CN113492408A - Debugging method for drum beating robot - Google Patents
Debugging method for drum beating robot Download PDFInfo
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- CN113492408A CN113492408A CN202110923101.6A CN202110923101A CN113492408A CN 113492408 A CN113492408 A CN 113492408A CN 202110923101 A CN202110923101 A CN 202110923101A CN 113492408 A CN113492408 A CN 113492408A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
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Abstract
本发明提供了一种用于击鼓机器人的调试方法，涉及表演机器人技术领域，解决了现有技术中存在的表演机器人调试比较麻烦的技术问题。该方法包括步骤S1：击鼓机器人与终端实现配对连接；步骤S2：终端发出调试命令；步骤S3：击鼓机器人接收到调试命令后按照调试要求进行调试；步骤S4：击鼓机器人能将调试后的信息发送给终端，所述终端接受并保存调试后的信息。本发明实现了远程调试击鼓机器人，通过网络数据传输可以实现多机器人的在线调试，不用更新机器人控制器程序且通过终端的可视化界面操作即可实现对机器人各个关节动作的调整调试，有效提高了日常演出的调试效率。
The invention provides a debugging method for a drumming robot, relates to the technical field of performance robots, and solves the technical problem that the debugging of the performance robot in the prior art is troublesome. The method includes step S1: the drumming robot and the terminal are paired and connected; step S2: the terminal sends a debugging command; step S3: the drumming robot performs debugging according to the debugging requirements after receiving the debugging command; step S4: the drumming robot can The information is sent to the terminal, and the terminal accepts and saves the debugged information. The invention realizes remote debugging of the drumming robot, online debugging of multiple robots can be realized through network data transmission, adjustment and debugging of the movements of each joint of the robot can be realized without updating the robot controller program and operation through the visual interface of the terminal, which effectively improves the Debugging efficiency of daily performances.
Description
Technical Field
The invention relates to the technical field of performance robots, in particular to a debugging method for a drum beating robot.
Background
Robots capable of replacing humans to perform repetitive physical labor, or those that are dangerous and exceed human limits, have been commonly used in industrial manufacturing, medical care, national defense, emergency rescue, home service. In recent years, along with the cross fusion of science and technology and art and the growth of people on cultural consumption, performance robots are enjoyed, and robots in forms such as dancing robots, drum beating robots, robot bands and the like appear.
For the drum beating performance robot, the accuracy of playing depends on the control of the force and frequency of the beating drum, which are determined by the mechanical structure of the robot, the motor parameters and the control logic of the robot. Therefore, the verification of the mechanical structure and the motor performance and the debugging of the drum point lightness and urgency accuracy before each performance are necessary for ensuring the final performance effect in the robot design process, and the motor motion angles and speeds of different joints need to be changed continuously in the verification and debugging.
The related processing mode is that the motion angle and the speed parameter of the motor are continuously corrected in the control program, then the control program is compiled and downloaded to the robot controller again, and the final drum beating effect is realized by continuously adjusting the position of the drum.
However, each angle and speed setting is a fuzzy value obtained according to the last drum beating test effect, and the fuzzy value is not an accurate value, so that the control program is continuously modified to obtain the optimal drum beating effect, and the verification progress and the debugging progress before performance in the robot design process are greatly delayed by the debugging mode; and a large amount of manpower and material resources are wasted when a plurality of rendering robots need to be debugged at the same time.
Disclosure of Invention
The invention aims to provide a debugging method for a drum beating robot, which aims to solve the technical problem that the debugging of a performance robot in the prior art is troublesome. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a debugging method for a drum beating robot, which comprises the following steps:
step S1: the drum beating robot is connected with the terminal in a matching mode;
step S2: the terminal sends out a debugging command;
step S3: the drum beating robot is debugged according to debugging requirements after receiving the debugging command;
step S4: the drum beating robot can send the debugged information to the terminal, and the terminal receives and stores the debugged information.
As a further improvement of the present invention, the drum beating robot in step S1 includes a signal processing module, a data processing module and a debugging module, where the signal processing module includes a signal receiving unit and a signal transmitting unit, the signal processing module is connected to the data processing module, and the data processing module is connected to the debugging module; the terminal comprises a processor, a controller and a storage module, wherein the processor is connected with the controller, and the controller is connected with the storage module; and the drum beating robot is connected with the terminal through a communication module.
As a further improvement of the present invention, the communication module is 4/5G network communication or WIFI communication.
As a further improvement of the present invention, in step S2, the controller of the terminal sends a debug command and transmits it to the processor, and the processor transmits the debug command to the drum beating robot through the communication module.
As a further improvement of the present invention, in step S3, the signal receiving unit of the signal processing module in the drum beating robot receives the information and sends the received debugging command information to the data processing module, and the data processing module interprets the data code and sends the interpreted data code to the debugging module; and the debugging module debugs the drum beating robot according to the debugging command information.
As a further improvement of the present invention, in step S4, the debugging module of the drum beating robot can send the debugged information to the data processing module, the data processing module compiles the debugged information into a code and sends the code to the signal processing module, the information transmitting unit of the signal processing module receives the debugged information and returns the debugged information to the terminal through the communication module, the processor of the terminal receives the debugged information and decodes the debugged information, the processor sends the decoded debugged information to the controller, and the controller receives the decoded information and stores the received debugged information in the storage module.
As a further improvement of the invention, the terminal is a handheld device with a WIFI module, the handheld device is equipped with a touch screen and realizes visual touch operation through embedded programming, and corresponding knobs and slider controls are configured on the terminal according to the adjustable range of each joint of the robot for adjusting the action of the corresponding joint.
As a further improvement of the invention, the terminal is a mobile phone, a PC or a tablet computer.
As a further improvement of the present invention, after receiving the debugging command, the drum beating robot in step S3 further includes, before performing debugging according to the debugging requirement: after the drum beating robot receives the debugging command, whether the IDs are consistent or not is judged firstly, if so, the parameters of all joints of the drum beating robot are updated according to the instruction content, the parameters are set as default parameters to be stored, and if the IDs are not the local IDs, the debugging command is ignored.
As a further improvement of the present invention, before the terminal issues the debug command, the method further includes: and acquiring a remote debugging request command sent by the drum beating robot.
According to the debugging method for the drum beating robot, the drum beating robot and the terminal are connected in a matched mode, the terminal sends out a debugging command, the drum beating robot is debugged according to the debugging requirement after receiving the debugging command, the retro drum beating robot can send the debugged information to the terminal, and the terminal receives and stores the debugged information. After the remote control communication is established with the drum beating robot, the robot is enabled to perform corresponding actions according to the corresponding debugging command sent, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the drum beating robot is debugged remotely, online debugging of multiple robots can be realized through network data transmission, adjustment and debugging of actions of all joints of the robot can be realized without updating a robot controller program and through the operation of a visual interface of a terminal, and the debugging efficiency of daily performance is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a debugging method for a drum beating robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a commissioning method for a drum beating robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Fig. 1 is a schematic diagram of one application environment of a debugging method for a drum beating robot according to an embodiment of the present application. Wherein, the application environment comprises: the drum beating robot comprises a drum beating robot and a terminal connected with the drum beating robot through a communication module.
A robot is generally an automated machine that mimics certain activities of a human. Generally, the walking and production tool operation actions can be realized, and the walking and production tool operation actions can be used for replacing people to work in an environment which cannot be adapted by people. Modern robots are equipped with electronic computers, which, through programming, can have a certain degree of artificial intelligence, such as recognizing languages and images, and making appropriate responses. Meanwhile, the robot is also a machine device that automatically performs work. The robot can accept human command, execute a prearranged program, and perform an action according to a principle schema established by an artificial intelligence technology. The drum beating robot belongs to a performance robot, the accuracy of playing depends on the control of the force and the frequency of the drum beating, and the two points are determined by the mechanical structure of the robot, the motor parameters and the control logic of the robot. Therefore, the verification of the mechanical structure and the motor performance and the debugging of the drum point lightness and urgency accuracy before each performance are necessary for ensuring the final performance effect in the robot design process, and the motor motion angles and speeds of different joints need to be changed continuously in the verification and debugging. The terminal is equivalent to a control center and is a hardware device or a hardware component for providing calculation control and signal receiving and sending so as to control the motor motion angles and speeds of different joints.
The related processing mode is that the motion angle and the speed parameter of the motor are continuously corrected in the control program, then the control program is compiled and downloaded to the robot controller again, and the final drum beating effect is realized by continuously adjusting the position of the drum. The setting of each angle and speed is a fuzzy value obtained according to the last drum beating effect test, and the fuzzy value is not an accurate value, so that the control program is continuously modified to obtain the optimal drum beating effect, and the verification progress and the debugging progress before performance in the robot design process are greatly delayed by the debugging mode; and a large amount of manpower and material resources are wasted when a plurality of rendering robots need to be debugged at the same time.
Based on this, the embodiment of the application provides a debugging method for a drum beating robot, which can establish remote communication between a terminal and the drum beating robot based on a network, and realize remote debugging of the drum beating robot by the terminal, thereby avoiding the expenditure of human cost for field debugging and simultaneously improving the debugging efficiency.
Specifically, the drum beating robot and a terminal are connected in a matched mode, the terminal sends a debugging command, the drum beating robot is debugged according to the debugging requirement after receiving the debugging command, then the drum beating robot can send debugged information to the terminal, and the terminal receives and stores the debugged information. After the remote control communication is established with the drum beating robot, the robot is enabled to perform corresponding actions according to the corresponding debugging command sent, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the drum beating robot is debugged remotely, online debugging of multiple robots can be realized through network data transmission, adjustment and debugging of actions of all joints of the robot can be realized without updating a robot controller program and through the operation of a visual interface of a terminal, and the debugging efficiency of daily performance is effectively improved.
As shown in fig. 1, the drum beating robot includes a signal processing module, a data processing module and a debugging module, the signal processing module includes a signal receiving unit and a signal transmitting unit, the signal processing module is connected to the data processing module, and the data processing module is connected to the debugging module; the terminal comprises a processor, a controller and a storage module, wherein the processor is connected with the controller, and the controller is connected with the storage module; the drum beating robot is connected with the terminal through a communication module, wherein the communication module is 4/5G network communication or WIFI communication.
Specifically, fig. 2 is a flowchart of an embodiment of a robot-based remote debugging method according to an embodiment of the present invention, and the debugging method for a drum beating robot according to the present invention may be executed by the terminal in fig. 1. As shown in fig. 2, the debugging method for the drum beating robot is as follows:
(1) the drum beating robot and the terminal are in pairing connection through 4/5G network communication or WIFI communication;
(2) the controller of the terminal sends a debugging command and transmits the debugging command to the processor, and the processor changes the debugging command into a code and transmits the code to the drum beating robot through the communication module;
(3) a signal receiving unit of a signal processing module in the drum beating robot receives information and sends the received debugging command information to a data processing module, and the data processing module unscrambles data codes and sends the unscrambled data codes to a debugging module;
(4) the debugging module debugs the drum beating robot according to the debugging command information;
(5) the debugging module of the drum beating robot can send the debugged information to the data processing module, and the data processing module compiles the debugged information into codes and sends the codes to the signal processing module;
(6) the information transmitting unit of the signal processing module receives the debugged information and returns the debugged information to the terminal through the communication module, and the processor of the terminal receives the debugged information and decodes the debugged information;
(7) the processor sends the decoded information after debugging to the controller, and the controller receives the decoded information and stores the received information after debugging into the storage module.
In addition, after the drum beating robot receives the debugging command, the method also comprises the following steps before debugging according to the debugging requirement:
after the drum beating robot receives the debugging command, whether the IDs are consistent or not is judged firstly, if so, the parameters of all joints of the drum beating robot are updated according to the instruction content, the parameters are set as default parameters to be stored, and if the IDs are not the local IDs, the debugging command is ignored.
The terminal is a handheld device with a WIFI module, the handheld device is provided with a touch screen and visual touch operation is achieved through embedded programming, and corresponding knobs and slider controls are configured on the terminal according to the adjustable range of each joint of the robot and used for adjusting the action of the corresponding joint. After the terminal equipment is powered on, the terminal equipment is connected to a network according to the configured or input account password, and data updating of each control is waited. And when the control data is changed, acquiring the data after the control is changed, and determining the ID of the robot and the motor to be adjusted according to the ID number of the control so as to generate a corresponding debugging command. The terminal can also send out a debugging command according to a remote debugging command requesting the drum beating robot to send.
In addition, the robot debugging terminal can be other forms of debugging terminals, such as a mobile phone with debugging software, a tablet computer or a desktop computer terminal.
If a plurality of performance robots need to be debugged simultaneously, if a wireless gateway exists in a debugging site, the on-site gateway is utilized, and if the wireless gateway does not exist, a temporary gateway is built by utilizing a 4G or 5G network; all the robot controllers are connected to a wireless gateway through communication modules; accessing the terminal into a wireless gateway or a wired network; and adjusting the speed and the angle of each joint motor of each robot to the optimal position by using the visual interface. Besides the action of the drum beating robot, the debugging content can also comprise other adjustable parameters, such as light required by the performance, on-off and playing of sound effects and the like.
In addition, the communication mode between the drum beating robot debugging terminal and the drum beating robot can be other forms of wireless or wired communication, such as BLE, LORA or RS485 bus.
According to the debugging method for the drum beating robots, provided by the embodiment of the invention, online debugging of a plurality of drum beating robots can be realized through network data transmission, the adjustment and debugging of the actions of each joint of the robot can be realized through visual interface operation without updating a robot controller program, and the debugging efficiency of daily performance is effectively improved.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A commissioning method for a drum beating robot, comprising:
step S1: the drum beating robot is connected with the terminal in a matching mode;
step S2: the terminal sends out a debugging command;
step S3: the drum beating robot is debugged according to debugging requirements after receiving the debugging command;
step S4: the drum beating robot can send the debugged information to the terminal, and the terminal receives and stores the debugged information.
2. The debugging method for a drum beating robot according to claim 1, wherein the drum beating robot in step S1 comprises a signal processing module, a data processing module and a debugging module, wherein the signal processing module comprises a signal receiving unit and a signal transmitting unit, the signal processing module is connected with the data processing module, and the data processing module is connected with the debugging module; the terminal comprises a processor, a controller and a storage module, wherein the processor is connected with the controller, and the controller is connected with the storage module; and the drum beating robot is connected with the terminal through a communication module.
3. The debugging method for a drum beating robot according to claim 2, wherein said communication module is 4/5G network communication or WIFI communication.
4. The debugging method for a drum beating robot according to claim 2, wherein in step S2, the controller of the terminal sends a debugging command and transfers it to the processor, and the processor transfers the debugging command into a code to the drum beating robot through the communication module.
5. The debugging method for a drum beating robot according to claim 4, wherein in step S3, the signal receiving unit of the signal processing module in the drum beating robot receives the information and sends the received debugging command information to the data processing module, and the data processing module interprets the data codes and sends the interpreted data codes to the debugging module; and the debugging module debugs the drum beating robot according to the debugging command information.
6. The debugging method for the drum beating robot according to claim 5, wherein in step S4, the debugging module of the drum beating robot can send the debugged information to the data processing module, the data processing module compiles the debugged information into codes and sends the codes to the signal processing module, the information transmitting unit of the signal processing module receives the debugged information and returns the debugged information to the terminal through the communication module, the processor of the terminal receives the debugged information and decodes the debugged information, the processor sends the decoded debugged information to the controller, and the controller receives the decoded information and stores the received debugged information in the storage module.
7. The debugging method for the drum beating robot according to claim 1, wherein the terminal is a handheld device with a WIFI module, the handheld device is provided with a touch screen and realizes visual touch operation through embedded programming, and corresponding knobs and slider controls are configured on the terminal according to the adjustable range of each joint of the robot for adjusting the action of the corresponding joint.
8. The debugging method for a drum beating robot according to claim 1 or 7, wherein said terminal is a mobile phone, PC or tablet PC.
9. The debugging method for a drum beating robot according to claim 1, wherein after receiving the debugging command, the drum beating robot in step S3 further comprises, before debugging according to the debugging requirement:
after the drum beating robot receives the debugging command, whether the IDs are consistent or not is judged firstly, if so, the parameters of all joints of the drum beating robot are updated according to the instruction content, the parameters are set as default parameters to be stored, and if the IDs are not the local IDs, the debugging command is ignored.
10. The commissioning method for a drum beating robot according to claim 1, further comprising, before the terminal issues the commissioning command:
and acquiring a remote debugging request command sent by the drum beating robot.
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| CN116909205A (en) * | 2023-08-23 | 2023-10-20 | 东莞市新佰人机器人科技有限责任公司 | Visual programming method and system for robot |
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