CN105137860B - Industry mechanical arm remotely monitor based on internet and control system - Google Patents
Industry mechanical arm remotely monitor based on internet and control system Download PDFInfo
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- CN105137860B CN105137860B CN201510462540.6A CN201510462540A CN105137860B CN 105137860 B CN105137860 B CN 105137860B CN 201510462540 A CN201510462540 A CN 201510462540A CN 105137860 B CN105137860 B CN 105137860B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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Abstract
The present invention provides a kind of industry mechanical arm remotely monitor and control system based on internet, it controls industry mechanical arm executing agency by intelligent handhold control terminal and executes construction action, and the Long-range links network communication port between intelligent handhold control terminal, video monitoring mechanism and remote mobile terminal is established using data server as interconnection center, realize the Internet of Things networking of industry mechanical arm, it realizes and is remotely interacted with the multi-aspect information of industry mechanical arm construction site, advantageous systems technology condition is provided for the maintenance and maintenance of industry mechanical arm；Simultaneously, the miniaturization and lightweight of intelligent handhold control terminal can also be realized based on embedded system technology, reduce the industry mechanical arm failure and accident caused by maloperation, can also integrating speech sound call, the detection of industry mechanical arm executing agency remarkable action, alarm and emergency braking control can function, preferably help improves the production efficiency of industry mechanical arm, reduces the economic loss caused by work failure.
Description
Technical field
The present invention relates to industry mechanical arm technical field and internet of things field, more particularly to one kind being based on internet
Industry mechanical arm remotely monitor and control system.
Background technology
Industry mechanical arm is the certain holding functions that can imitate human hand and arm, and industry is executed to be controlled according to program
The automation mechanized operation device of construction action.The type of industry mechanical arm can be divided into fluid pressure type, pneumatic type, electronic by type of drive
Formula, mechanical manipulator etc.；It can be divided into two kinds of special manipulator and Unimate by the scope of application；By movement locus controlling party
Formula can be divided into point position control and continuous path control machinery hand etc..Industry mechanical arm can be with economization worker, raising industrial processes effect
Rate reduces processing cost, improves process safety and product quality, therefore being used more and more by industrial processes enterprise.
Industry mechanical arm usually carries out operation and control by a hand-held control terminal online with it, but due to it is general
Machining tool compare, the control of industry mechanical arm operation is increasingly complex, so being typically designed with very in hand-held control terminal
The operation button of more different function causes hand-held control terminal build huge and heavy, gives the operation of construction site operating personnel
Using bringing inconvenience, and operation button layout is intensive in hand-held control terminal, but also the probability of maloperation increases.It is another
Aspect, although industry mechanical arm belongs to more accurate instrument and equipment, but since its volume is larger, component is more, internal control
Configuration and component combined structure are all complex, therefore will appear failure with being still difficult to avoid that.And once because accidentally
Operation causes manipulator behavior mistake, or because failure causes manipulator behavior abnormal, the operating personnel of construction site are often
Do not have the maintenance technical ability to robotic device, the engineer of profession is needed to assist debug or failure, but the engineering of profession
Often seldom at the construction field (site), which results in the case where industry mechanical arm stroke defect or failure to be difficult to be tieed up in time teacher
It repaiies, be delayed the problems such as construction working, reduce production efficiency；Moreover, in some cases, the action of industry mechanical arm is wrong
If accidentally or failure cannot be stopped and be excluded in time, it is likely that cause the major accidents such as the damage of manipulator or cooperating equipment, draw
Send out the economic loss of bigger.In addition, industry mechanical arm equipment is also required to carry out the inspection of equipment after completing certain processing capacity
And maintenance, but existing industry mechanical arm also lacks complete work state information record system, it is difficult to preferably according to every
The processing capacity of industry mechanical arm equipment plans maintenance period, and error of performance or failure once occurs and also lack information record
As foundation, difficulty is brought for the maintenance in later stage.
In general, the information exchange of industry mechanical arm equipment and writing function are not complete enough in the prior art, are to cause
The main reason for industry mechanical arm overhaul of the equipments at present and inconvenient maintenance.
Invention content
Aiming at the above shortcomings existing in the prior art, the purpose of the present invention is to provide a kind of works based on internet
Industry manipulator remotely monitor and control system realize the Internet of Things networking of industry mechanical arm by internet, realize remotely and work
The multi-aspect information of industry manipulator construction site interacts so that engineer can remotely understand industry mechanical arm construction site
Actual conditions, and the operating personnel of construction site is assisted to exclude error of performance or failure in time, it is the maintenance of industry mechanical arm
Advantageous systems technology condition is provided with maintenance, to help to improve the production efficiency of industry mechanical arm, reduce because of industrial machine
Tool hand failure and the economic loss caused.
In order to solve the above technical problems, present invention employs following technological means：
Industry mechanical arm remotely monitor based on internet and control system, including industry mechanical arm executing agency, intelligence
Control terminal, video monitoring mechanism, data server and remote mobile terminal can be held；
The industry mechanical arm executing agency is installed on processing construction site, including industry mechanical arm, control drive module
Processing module is indicated with action；Industry mechanical arm is used to execute construction action according to the driving of control drive module；Control driving
Module be used for according to from action instruction processing module manipulator behavior control instruction, to the construction of industry mechanical arm act into
The corresponding control driving of row；Action instruction processing module, into row data communication, comes from intelligent handhold control terminal for receiving
The manipulator behavior instruction order of intelligent handhold control terminal, is ordered according to the manipulator behavior instruction received to industrial machinery
Hand executing agency sends corresponding manipulator behavior control instruction, and records and count applying for industry mechanical arm executing agency in real time
Work status information and its number for completing construction action in the construction process, are sent to intelligent handhold control terminal；
The intelligent handhold control terminal is set to processing construction site, including intelligent handhold controller and handheld terminal communication
Module；Handheld terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Intelligent handhold controller
With industry mechanical arm executing agency into row data communication, input for providing manipulator control information and by the manipulator of input
Control information is converted to corresponding manipulator behavior instruction order, or is received from interconnection by handheld terminal communication module
Manipulator behavior instruction order is sent to industry mechanical arm executing agency, is additionally operable to by the manipulator behavior instruction order of network
The Construction State information of the industry mechanical arm executing agency transmitted by industry mechanical arm executing agency is acquired in real time and its is being constructed
The number of construction action is completed in the process, and completes time of construction action in the construction process according to industry mechanical arm executing agency
Number conversion obtains corresponding processing capacity data information, by handheld terminal communication module by the construction shape of industry mechanical arm executing agency
State information and processing capacity data information are externally sent；
The video monitoring mechanism is installed on processing construction site, including camera, automatically controlled holder, video monitoring controller
With video end communication module；Camera is mounted on automatically controlled holder, is processed for being acquired according to the control of video monitoring controller
Industry mechanical arm executing agency executes the construction site video data of construction action in construction site, and returns to video monitoring control
Device processed；Automatically controlled holder is used for the shooting azimuth of the control adjustment camera according to video monitoring controller；Video end communicates mould
Block is connected to internet, and correspondence with foreign country is carried out for passing through internet；Video monitoring controller is used for or passes through video end
Communication module receives the shooting action instruction order from internet, and it is dynamic to send corresponding shooting to camera and automatically controlled holder
Make control instruction, the construction site video data acquiring and shooting azimuth to camera are controlled and adjusted, and in real time
The construction site video data for obtaining camera acquisition, is externally sent by video end communication module；
The data server is set in internet, including data terminal communication module, Data Storage and
Service processing module；Data terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Data are deposited
Storage management module is used to connect by the internet that data terminal communication module is established, and receives intelligent handhold control terminal to outgoing
The Construction State information and processing capacity data information and video monitoring mechanism of the industry mechanical arm executing agency sent are externally sent
Construction site video data, and the information to receiving and data carry out database purchase processing；Service processing module is used for
The internet connection established by data terminal communication module receives the data service request or long-range from remote mobile terminal
Control data, and corresponding information or data is extracted from Data Storage according to data service request and is back to long-range shifting
Dynamic terminal to intelligent handhold control terminal sends corresponding manipulator behavior instruction order or to video according to remote control notification
Monitor control mechanism sends corresponding shooting action instruction order；
The remote mobile terminal packet is set in mobile communications network, includes mobile terminal communication module, mobile client mould
Block and touch sensitive display unit；Mobile terminal communication module is connected to mobile communications network, for passing through mobile communications network and interconnection
The network interconnection simultaneously carries out correspondence with foreign country；Touch sensitive display unit is used for the sensing into the display and touch input signal of row information；It moves
Dynamic client modules are used to control the display that touch sensitive display unit carries out input interface, and what acquisition touch sensitive display unit sensed touches
Input signal is touched, and collected touch input signal identification is converted into corresponding data service request or remote control is asked
Ask, the interconnection of the mobile communications network and internet established by mobile terminal communication module connection, by data service request or
Remote control notification is sent to data server, and receives the information or data from data server and control touch sensitive display unit
It is shown.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, specifically, the long-range shifting
The input interface that the mobile client end module control touch sensitive display unit of dynamic terminal is shown includes manipulator remote control input circle
Face and video monitoring remote control input interface；In the case where control shows manipulator remote control input interface, mobile visitor
Family end module is sent to for collected touch input signal identification to be converted to corresponding manipulator remote control notification
Data server；In the case where control shows video monitoring remote control input interface, mobile client end module will be for that will adopt
The touch input signal identification collected is converted to corresponding video monitoring remote control notification and is sent to data server；It is described
The service processing module of data server is used for root when receiving the manipulator remote control notification from remote mobile terminal
According to manipulator remote control notification corresponding manipulator behavior instruction order is sent to intelligent handhold control terminal；Data server
Service processing module when receiving the video monitoring remote control notification from remote mobile terminal, for being supervised according to video
It controls remote control notification and sends corresponding shooting action instruction order to video monitoring mechanism.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as being further improved scheme,
The mobile client end module of the remote mobile terminal is starting to control touch sensitive display unit display manipulator remote control input
When interface and video monitoring remote control input interface, it is additionally operable to send real time video data request to data server, and connect
The real-time construction site video data that data server returns is received, and controls touch sensitive display unit and regards real-time construction site
It is shown in manipulator remote control input interface and the input of video monitoring remote control to the video image picture insertion of frequency evidence
In interface；The service processing module of the data server is receiving the real time video data request from remote mobile terminal
When, it is additionally operable to extract the real-time construction site video data from video monitoring mechanism and real-time from Data Storage
Ground is sent to remote mobile terminal.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, specifically, the long-range shifting
The input interface that the mobile client end module control touch sensitive display unit of dynamic terminal is shown includes construction data request input interface
Input interface is asked with video data；In the case where control shows that construction data asks input interface, mobile client end module
For collected touch input signal identification to be converted to corresponding Construction State information inspection request or processing capacity data
Information inspection request, and receive the Construction State information or processing capacity data information control touch display list of data server return
Member carries out list display；In the case where control shows that video data asks input interface, mobile client end module will be for that will adopt
The touch input signal identification collected is converted to corresponding real time video data request or the request of history video data, and receives
It is single that the construction site video data control for the real-time construction site video data or history that data server returns touches display
Member carries out video image picture and shows；The service processing module of the data server is being received from remote mobile terminal
When Construction State information inspection is asked, it is sent to remotely for extracting corresponding Construction State information from Data Storage
Mobile terminal；The service processing module of data server is checked receiving the processing capacity data information from remote mobile terminal
When request, remote mobile terminal is sent to for extracting corresponding processing capacity data information from Data Storage；Data
The service processing module of server is when receiving the real time video data request from remote mobile terminal, for being deposited from data
Storage management module real-time construction site video data of the extraction from video monitoring mechanism is simultaneously sent to remote mobile in real time
Terminal；The service processing module of data server is used when receiving the history video data request from remote mobile terminal
It is sent to remote mobile terminal in the construction site video data for extracting corresponding historical time from Data Storage.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as a preferred embodiment, institute
The intelligent handhold controller for stating intelligent handhold control terminal is the intelligent terminal controller based on embedded system, including embedded
System unit, display screen unit and touch input unit；Embedded system unit carries out manipulator for control display screen unit
The display of information input interface is controlled, and controls what touch input unit offer matched with manipulator control information input interface
Touch gestures input operation corresponding to manipulator control information, and received from internet by handheld terminal communication module
Manipulator behavior instruction order, or the touch gestures input that acquisition touch input unit senses operate corresponding manipulator control
Information is simultaneously converted to corresponding manipulator behavior instruction order, and manipulator behavior instruction order is sent to industrial machinery
Hand executing agency is additionally operable to acquire the construction shape of the industry mechanical arm executing agency transmitted by industry mechanical arm executing agency in real time
State information and its number for completing construction action in the construction process, and in the construction process according to industry mechanical arm executing agency
The number for completing construction action converts to obtain corresponding processing capacity data information, by handheld terminal communication module by industry mechanical arm
The Construction State information and processing capacity data information of executing agency are externally sent.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as being further improved scheme,
The display screen unit and touch input unit integrate.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as being further improved scheme,
The intelligent handhold control terminal further includes handheld terminal call module, for carrying out call voice number by handheld terminal communication module
According to acquisition send and receive broadcasting；The remote mobile terminal further includes mobile terminal call module, for logical by mobile terminal
The acquisition that letter module carries out call voice data sends and receives broadcasting；The service processing module of the data server is additionally operable to
The internet connection established by data terminal communication module, is established between intelligent handhold control terminal and remote mobile terminal
Call voice data connection path, call voice data is mutual between realization intelligent handhold control terminal and remote mobile terminal
It passes.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as being further improved scheme,
The data server further includes construction judging treatmenting module, for coming from video monitoring machine from Data Storage extraction
The real-time construction site video data of structure executes machine according to the industry mechanical arm that real-time construction site video data is presented
The construction action that structure executes, the action execution position for identifying industry mechanical arm executing agency is handled by video, and in conjunction with next
From the Construction State information of the industry mechanical arm executing agency of intelligent handhold control terminal, industry mechanical arm executing agency is judged
Whether action execution position matches with its Construction State, and in the action execution position of judgement industry mechanical arm executing agency and
When its Construction State does not match that, believed to intelligent handhold control terminal sending action abnormal alarm by data terminal communication module
Breath；The intelligent handhold controller of the intelligent handhold control terminal is received by handheld terminal communication module from data server
Remarkable action warning message when, to industry mechanical arm executing agency send stop construction act manipulator behavior control refer to
It enables.
In above-mentioned industry mechanical arm remotely monitor and control system based on internet, as being further improved scheme,
The construction judging treatmenting module of the data server is additionally operable to the action execution position in judgement industry mechanical arm executing agency
When not matched that with its Construction State, notify service processing module to remote mobile terminal sending action abnormal alarm information, and
Service processing module is notified initiatively to extract the real-time construction site from video monitoring mechanism from Data Storage
Video data is simultaneously sent to remote mobile terminal and is shown in real time.
Compared with the prior art, the invention has the advantages that：
1, it the present invention is based on the industry mechanical arm remotely monitor and control system of internet, is controlled by intelligent handhold
Under the conditions of terminal control industry mechanical arm executing agency executes the technical foundation of construction action, using data server as in interconnecting
The heart establishes the Long-range links network communication port between intelligent handhold control terminal, video monitoring mechanism and remote mobile terminal,
The Internet of Things networking for realizing industry mechanical arm, realizes and is remotely interacted with the multi-aspect information of industry mechanical arm construction site, made
Engineer can remotely understand the actual conditions of industry mechanical arm construction site, and assist construction site operating personnel and
When exclude error of performance or failure, provide advantageous systems technology condition for the maintenance and maintenance of industry mechanical arm.
2, the present invention is based in the industry mechanical arm remotely monitor and control system of internet, intelligent handhold control is eventually
End can realize display and the touch gestures input operation of manipulator control information input interface based on embedded system, to
The dependence to a large amount of densely distributed operation buttons is avoided, miniaturization and the light weight of intelligent handhold control terminal are helped to realize
Change, and help that maloperation probability is greatly reduced, reduces the industry mechanical arm failure and accident caused by maloperation.
3, the present invention is based on the industry mechanical arm remotely monitors and control system of internet, additionally it is possible in intelligent handhold control
Voice communication, industry mechanical arm executing agency remarkable action is combined to examine between terminal processed, data server and remote mobile terminal
It surveys and alarm, the remarkable action emergency braking of industry mechanical arm executing agency controls energy function, be more advantageous to and exclude industrial machine in time
The error of performance or fault condition of tool hand, to help to improve the production efficiency of industry mechanical arm, reduce because of industry mechanical arm therefore
The economic loss for hindering and causing.
Description of the drawings
Fig. 1 is to be the present invention is based on a kind of embodiment of industry mechanical arm remotely monitor and control system of internet
System framework schematic diagram.
Fig. 2 is that the present invention is based on the industry mechanical arm remotely monitor of internet and control system another embodiments
System architecture schematic diagram.
Fig. 3 is that the present invention is based on the industry mechanical arm remotely monitor of internet and control system another embodiments
System architecture schematic diagram.
Specific implementation mode
The present invention provides a kind of industry mechanical arm remotely monitor and control system based on internet, as shown in Figure 1,
The industry mechanical arm remotely monitor and control system include industry mechanical arm executing agency, intelligent handhold control terminal, video prison
Control mechanism, data server and remote mobile terminal.
Industry mechanical arm executing agency is installed on processing construction site, including industry mechanical arm, control drive module and dynamic
Make instruction processing module；Industry mechanical arm is used to execute construction action according to the driving of control drive module；Control drive module
For according to the manipulator behavior control instruction from action instruction processing module, phase to be carried out to the construction action of industry mechanical arm
The control driving answered；Action instruction processing module, into row data communication, is used to receive from intelligence with intelligent handhold control terminal
The manipulator behavior instruction order of hand-held control terminal is held according to the manipulator behavior instruction order received to industry mechanical arm
Row mechanism sends corresponding manipulator behavior control instruction, and records and count the construction shape of industry mechanical arm executing agency in real time
State information and its number for completing construction action in the construction process, are sent to intelligent handhold control terminal.Industry mechanical arm is held
Row mechanism has been more mature in the prior art technical equipment, the tool of the industry mechanical arm executing agency of different machining functions
Body structure is each different, is not repeated here herein to its concrete implementation structure, but its control logic is intercommunication.
Intelligent handhold control terminal is set to processing construction site, including intelligent handhold controller and handheld terminal communicate mould
Block；Handheld terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Intelligent handhold controller with
Industry mechanical arm executing agency is into row data communication, the input for providing manipulator control information and the machinery manual control by input
Information processed is converted to corresponding manipulator behavior instruction order, or is received by handheld terminal communication module and come from internet
Manipulator behavior instruction order is sent to industry mechanical arm executing agency, is additionally operable to reality by the manipulator behavior instruction order of network
When acquisition industry mechanical arm executing agency transmitted by industry mechanical arm executing agency Construction State information and its constructing
The number of construction action is completed in journey, and completes the number of construction action in the construction process according to industry mechanical arm executing agency
Conversion obtains corresponding processing capacity data information, by handheld terminal communication module by the Construction State of industry mechanical arm executing agency
Information and processing capacity data information are externally sent.It is with the significantly different place of the prior art, industry mechanical arm of the present invention
Intelligent handhold control terminal in remotely monitor and control system is sent out in addition to can directly manipulate to industry mechanical arm executing agency
It send except manipulator behavior instruction order, the manipulator behavior from internet can also be received by handheld terminal communication module
Instruction order is sent to industry mechanical arm executing agency, this is that industry mechanical arm executing agency is enable to have remote control
The technical foundation of power, but simultaneously but also function increasingly complexization of intelligent handhold control terminal, if directly using existing skill
Build is huge in art, bulky hand-held control terminal addition communication function and be transformed, although can realize, renovation technique
Difficulty is larger.Therefore, in order to which technology of being more convenient for is realized, specific embodiment as one preferred, intelligent handhold control terminal
Intelligent handhold controller be preferably based on the intelligent terminal controller of embedded system comprising it is embedded system unit, aobvious
Display screen unit and touch input unit；And embedded system unit can be directly based upon the intelligent operating systems such as Android, apple iOS
Flush type circuit be achieved by carrying and running programming software, for control display screen unit carry out manipulator control
The display of information input interface, and control touch input unit and the machinery to match with manipulator control information input interface is provided
Hand controls the touch gestures input operation corresponding to information, and receives the machinery from internet by handheld terminal communication module
Make instruction order manually, or the touch gestures input that acquisition touch input unit senses operates corresponding manipulator control information
And it is converted to corresponding manipulator behavior instruction order, manipulator behavior instruction order, which is sent to industry mechanical arm, holds
Row mechanism is additionally operable to acquire the Construction State letter of the industry mechanical arm executing agency transmitted by industry mechanical arm executing agency in real time
Breath and its number for completing construction action in the construction process, and completed in the construction process according to industry mechanical arm executing agency
The number of construction action converts to obtain corresponding processing capacity data information, is executed industry mechanical arm by handheld terminal communication module
The Construction State information and processing capacity data information of mechanism are externally sent.Based on intelligent operating systems such as Android, apple iOS
Flush type circuit the embedded system unit of above-mentioned function, those skilled in the art are realized by carrying and running programming software
It just can be realized by the Remote monitor system and programming technique knowledge of its grasp.Since in this way, not only so that intelligent handhold
Control terminal becomes to be more prone to the reception and forwarding capability realization of the manipulator behavior instruction order from internet, and
And the display of manipulator control information input interface is carried out by display screen unit, touch gestures are sensed by touch input unit
It carries out input operation and controls and send manipulator behavior instruction order, such control mode is avoided to a large amount of densely distributed
The dependence of operation button, it is only necessary to be grasped by the different input of the Pagination Display in different manipulator control information input interfaces
Make control instruction, and display screen unit and touch input unit can also integrate（Such as existing touch screen hand
The display that is used in machine, touch screen tablet computer touches integration technology）, help to realize the miniaturization of intelligent handhold control terminal
And lightweight, and such control mode also contributes to that maloperation probability is greatly reduced, and reduces the industry caused by maloperation
Robotic failure and accident.
Video monitoring mechanism is installed on processing construction site, including camera, automatically controlled holder, video monitoring controller and regards
Frequency end communication module；Camera is mounted on automatically controlled holder, for acquiring processing construction according to the control of video monitoring controller
Industry mechanical arm executing agency executes the construction site video data of construction action in scene, and returns to video monitoring control
Device；Automatically controlled holder is used for the shooting azimuth of the control adjustment camera according to video monitoring controller；Video end communication module
It is connected to internet, correspondence with foreign country is carried out for passing through internet；Video monitoring controller is used for or is led to by video end
Believe that module receives the shooting action instruction order from internet, corresponding shooting action is sent to camera and automatically controlled holder
Control instruction, construction site video data acquiring and shooting azimuth to camera are controlled and are adjusted, and are obtained in real time
The construction site video data for taking camera to acquire, is externally sent by video end communication module.For technology realization,
As long as video monitoring mechanism uses long-range holder camera apparatus in the prior art it is achieved that ensuring that it constructs in processing
The installation site at scene, which can be acquired effectively, to be taken industry mechanical arm executing agency in processing construction site to execute construction dynamic
Work can.
Data server is set in internet, including data terminal communication module, Data Storage and service
Processing module；Data terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Data storage tube
Reason module is used to connect by the internet that data terminal communication module is established, and receives what intelligent handhold control terminal was externally sent
What the Construction State information and processing capacity data information and video monitoring mechanism of industry mechanical arm executing agency were externally sent applies
Work live video data, and the information to receiving and data carry out database purchase processing；Service processing module is for passing through
The internet connection that data terminal communication module is established, receives data service request or remote control from remote mobile terminal
Request, and corresponding information or data is extracted from Data Storage according to data service request and is back to remote mobile end
End to intelligent handhold control terminal sends corresponding manipulator behavior instruction order or to video monitoring according to remote control notification
Mechanism sends corresponding shooting action instruction order.For technology realization, data server is taken using existing internet
Business device or Cloud Server technology combination database technology can be realized as.
Remote mobile terminal packet is set in mobile communications network, include mobile terminal communication module, mobile client end module and
Touch sensitive display unit；Mobile terminal communication module is connected to mobile communications network, for passing through mobile communications network and internet
It interconnects and carries out correspondence with foreign country；Touch sensitive display unit is used for the sensing into the display and touch input signal of row information；Mobile visitor
Family end module is used to control the display that touch sensitive display unit carries out input interface, and the touch that acquisition touch sensitive display unit senses is defeated
Enter signal, and collected touch input signal identification be converted into corresponding data service request or remote control notification,
The interconnection of the mobile communications network and internet established by mobile terminal communication module connects, by data service request or remotely
Control data is sent to data server, and receives the information or data control touch sensitive display unit from data server and carry out
Display.Remote mobile terminal in industry mechanical arm remotely monitor and control system of the present invention, may be used existing touch screen hand
Machine, touch screen tablet computer etc. have the computer terminal of touch screen functionality it is achieved that only needing to install and transport wherein
Row can carry out online programming software by data server and intelligent handhold control terminal and video monitoring mechanism.
Specifically, as a kind of preferred design scheme of remote mobile terminal, the mobile client of remote mobile terminal
The input interface that module control touch sensitive display unit is shown includes that manipulator remote control input interface and video monitoring are remotely controlled
Input interface processed；In the case where control shows manipulator remote control input interface, mobile client end module will be for that will acquire
To touch input signal identification be converted to corresponding manipulator remote control notification and be sent to data server；It is aobvious in control
In the case of showing video monitoring remote control input interface, mobile client end module is used to know collected touch input signal
Corresponding video monitoring remote control notification is not converted to is sent to data server.Correspondingly, the service of data server
Processing module is when receiving the manipulator remote control notification from remote mobile terminal, for according to manipulator remote control
It asks to send corresponding manipulator behavior instruction order to intelligent handhold control terminal；The service processing module of data server exists
When receiving the video monitoring remote control notification from remote mobile terminal, for according to video monitoring remote control notification to
Video monitoring mechanism sends corresponding shooting action instruction order.Since in this way, it will be able to pass through remote mobile terminal realization pair
The remote control of industry mechanical arm executing agency and video monitoring mechanism.Also, as a kind of further improvement, remote mobile
The mobile client end module of terminal is starting to control touch sensitive display unit display manipulator remote control input interface and video prison
When controlling remote control input interface, it is additionally operable to send real time video data request to data server, and receive data server
The real-time construction site video data returned, and touch sensitive display unit is controlled by the video of real-time construction site video data
It is shown in manipulator remote control input interface and video monitoring remote control input interface to image frame insertion；And data
The service processing module of server is additionally operable to when receiving the real time video data request from remote mobile terminal from data
Memory management module extracts the real-time construction site video data from video monitoring mechanism and is sent to long-range shifting in real time
Dynamic terminal.Pass through this improvement, so that it may so that remote mobile terminal is in display manipulator remote control input interface and video prison
Real-time construction site video image picture can be synchronously embedded in when controlling remote control input interface in interface so that pass through
It, can be existing by constructing when remote mobile terminal realizes the remote control to industry mechanical arm executing agency and video monitoring mechanism
Field video image picture recognizes specific remote control operation situation.
And as another preferred design scheme of remote mobile terminal, the mobile client end module control of remote mobile terminal
The input interface that touch sensitive display unit processed is shown includes construction data request input interface and video data request input interface；
In the case that control shows construction data request input interface, mobile client end module is used for collected touch input signal
It is converted to corresponding Construction State information inspection request or processing capacity data information checks request, and receive data service
Construction State information or processing capacity data information the control touch sensitive display unit that device returns carry out list display；It is regarded in control display
In the case of frequency request of data input interface, mobile client end module is for being converted to collected touch input signal identification
Corresponding real time video data request or the request of history video data, and the real-time construction for receiving data server return is existing
Field video data or the construction site video data control touch sensitive display unit of history carry out video image picture and show.Accordingly
Ground, the service processing module of data server when receiving the Construction State information inspection request from remote mobile terminal,
It is sent to remote mobile terminal for extracting corresponding Construction State information from Data Storage；The clothes of data server
Business processing module is when receiving the processing capacity data information from remote mobile terminal and checking request, for from data storage tube
Reason module extracts corresponding processing capacity data information and is sent to remote mobile terminal；The service processing module of data server is connecing
When receiving the real time video data request from remote mobile terminal, for being supervised from Data Storage extraction from video
It controls the real-time construction site video data of mechanism and is sent to remote mobile terminal in real time；The service processing of data server
Module is when receiving the history video data request from remote mobile terminal, for extracting phase from Data Storage
The construction site video data of historical time is answered to send to remote mobile terminal.Since in this way, it will be able to pass through remote mobile end
Realize the remote inquiry to industry mechanical arm executing agency Construction State information and processing capacity data information, and long-range acquisition in end
Current real-time or history construction site video image, in order to by checking that Construction State information, processing capacity data are believed
Breath and construction site video image understand scene or the history job information of industry mechanical arm, go out to trace industry mechanical arm
The maintenance work period etc. of the reason of existing failure or planning to industry mechanical arm.
It, can be with by above-mentioned to the present invention is based on the industry mechanical arm remotely monitor of internet and the explanation of control system
See, the technical foundation condition that industry mechanical arm executing agency executes construction action is being controlled by intelligent handhold control terminal
Under, established using data server as interconnection center intelligent handhold control terminal, video monitoring mechanism and remote mobile terminal it
Between Long-range links network communication port, realize the Internet of Things networking of industry mechanical arm, and by internet, Ke Yishi
WIFI, GPRS, wide area network, Metropolitan Area Network (MAN), LAN, bluetooth, infrared, radio communication etc. are any to have existing communication technology institute structure
The internet form built.Engineer can utilize the video of remote mobile terminal acquisition industry mechanical arm construction site as a result,
Various information datas such as the Construction State information of image and industry mechanical arm, processing capacity data information, and being capable of profit
Remote control is carried out to industry mechanical arm with remote mobile terminal, additionally it is possible to remotely control video monitoring mechanism acquisition industrial machine
Construction is assisted in the shooting azimuth of tool hand construction site video image and focusing etc. to carry out information interaction with construction site
The operating personnel at scene exclude error of performance or failure in time, and advantageous system is provided for the maintenance and maintenance of industry mechanical arm
System technical conditions.
In order to further enhance industry mechanical arm remotely monitor of the present invention and control system medium-long range mobile terminal and intelligence
Information exchange ability between hand-held control terminal, as a kind of further improvement project, as shown in Fig. 2, can also be in intelligence
It can hold in control terminal and add handheld terminal call module, for carrying out adopting for call voice data by handheld terminal communication module
Collection sends and receives broadcasting；Mobile terminal call module is added in remote mobile terminal simultaneously, and mould is communicated for passing through mobile terminal
The acquisition that block carries out call voice data sends and receives broadcasting；Correspondingly, the service processing module of data server is additionally operable to
The internet connection established by data terminal communication module, is established between intelligent handhold control terminal and remote mobile terminal
Call voice data connection path, call voice data is mutual between realization intelligent handhold control terminal and remote mobile terminal
It passes.Such improvement so that remote mobile terminal and intelligent handhold control terminal can mutual voice communication, to allow using remote
The engineer of journey mobile terminal can exchange with using the site operation personnel of intelligent handhold control terminal to carry out voice messaging, just
Technical information is conveyed in more detailed the case where understanding construction site, and to the operating personnel of construction site, assists and guidance is grasped
Make personnel and carry out appropriate operation processing at the construction field (site), is more advantageous to the error of performance or failure for excluding industry mechanical arm in time
Situation.
In addition, as further Technological improvement plan, the industry mechanical arm remotely monitor in the present invention and control system
In system, since data server has had been provided with acquisition construction site video data and industry mechanical arm executing agency Construction State
The ability and condition of information as shown in figure 3, construction judging treatmenting module can also be added in data server, are used for whereby
The real-time construction site video data from video monitoring mechanism, root are extracted from the Data Storage of data server
The construction action executed according to the industry mechanical arm executing agency that real-time construction site video data is presented, is handled by video
It identifies the action execution position of industry mechanical arm executing agency, and combines the industry mechanical arm from intelligent handhold control terminal
The Construction State information of executing agency, judge the action execution position of industry mechanical arm executing agency and its Construction State whether phase
Matching, and when the action execution position for judging industry mechanical arm executing agency is not matched that with its Construction State, pass through data
Hold communication module to intelligent handhold control terminal sending action abnormal alarm information.And correspondingly, intelligent handhold control terminal
When intelligent handhold controller receives the remarkable action warning message from data server by handheld terminal communication module, then to
Industry mechanical arm executing agency sends the manipulator behavior control instruction for stopping construction action.Since in this way, even if in industrial machine
Tool hand execute during construction action because the reasons such as maloperation, mechanical breakdown remarkable action occur and not by execute-in-place
Personnel timely have found that data server also can identify and divide according to the video processing of real-time construction site video data
It analyses and sends out alarm to intelligent handhold control terminal so that intelligent handhold control terminal automatically controls industry mechanical arm and executes machine
Structure emergency braking, avoids industry mechanical arm from continuing to execute abnormal operation and causes the accidents such as equipment damage.The operating personnel at scene
It can know the abnormal conditions of industry mechanical arm according to the remarkable action warning message that intelligent handhold control terminal receives and carry out
It timely checks, or contact engineer assists to exclude abnormal conditions in time.Further, it is also possible to design data server
Judging treatmenting module construct when the action execution position for judging industry mechanical arm executing agency is not matched that with its Construction State,
Notify service processing module to remote mobile terminal sending action abnormal alarm information, and notify service processing module initiatively from
Data Storage is extracted the real-time construction site video data from video monitoring mechanism and is sent in real time remote
Journey mobile terminal is shown, to allow the engineer using remote mobile terminal also can timely recognize situ industrial machine
The abnormal conditions of Xie Shou executing agencies, to which preferably cooperation site operation personnel takes counter-measure.
In conclusion the present invention is based on the industry mechanical arm remotely monitor and control system of internet, passing through intelligence
Under the conditions of hand-held control terminal control industry mechanical arm executing agency executes the technical foundation of construction action, made with data server
It is logical that the Long-range links network between intelligent handhold control terminal, video monitoring mechanism and remote mobile terminal is established for interconnection center
Believe channel, realizes the Internet of Things networking of industry mechanical arm, realize the multi-aspect information remotely with industry mechanical arm construction site
Interaction so that engineer can remotely understand the actual conditions of industry mechanical arm construction site, and assist the behaviour of construction site
Make personnel and exclude error of performance or failure in time, advantageous systems technology item is provided for the maintenance and maintenance of industry mechanical arm
Part；Meanwhile intelligent handhold control terminal can realize the aobvious of manipulator control information input interface based on embedded system
Show to input with touch gestures and operate, so as to avoid the dependence to a large amount of densely distributed operation buttons, helps to realize intelligence
The miniaturization and lightweight of hand-held control terminal, and help that maloperation probability is greatly reduced, reduce the work caused by maloperation
Industry robotic failure and accident；Additionally it is possible between intelligent handhold control terminal, data server and remote mobile terminal
In conjunction with voice communication, the remarkable action detection of industry mechanical arm executing agency and alarm, industry mechanical arm executing agency remarkable action
Emergency braking control energy function, is more advantageous to the error of performance or fault condition for excluding industry mechanical arm in time, to help to carry
The production efficiency of high industry mechanical arm reduces the economic loss caused by industry mechanical arm failure.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to reality
Example is applied to describe the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the technical side of the present invention
Case is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (5)
1. the industry mechanical arm remotely monitor based on internet and control system, which is characterized in that held including industry mechanical arm
Row mechanism, intelligent handhold control terminal, video monitoring mechanism, data server and remote mobile terminal；
The industry mechanical arm executing agency is installed on processing construction site, including industry mechanical arm, control drive module and dynamic
Make instruction processing module；Industry mechanical arm is used to execute construction action according to the driving of control drive module；Control drive module
For according to the manipulator behavior control instruction from action instruction processing module, phase to be carried out to the construction action of industry mechanical arm
The control driving answered；Action instruction processing module, into row data communication, is used to receive from intelligence with intelligent handhold control terminal
The manipulator behavior instruction order of hand-held control terminal is held according to the manipulator behavior instruction order received to industry mechanical arm
Row mechanism sends corresponding manipulator behavior control instruction, and records and count the construction shape of industry mechanical arm executing agency in real time
State information and its number for completing construction action in the construction process, are sent to intelligent handhold control terminal；
The intelligent handhold control terminal is set to processing construction site, including intelligent handhold controller and handheld terminal communicate mould
Block；Handheld terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Intelligent handhold controller with
Industry mechanical arm executing agency is into row data communication, the input for providing manipulator control information and the machinery manual control by input
Information processed is converted to corresponding manipulator behavior instruction order, or is received by handheld terminal communication module and come from internet
Manipulator behavior instruction order is sent to industry mechanical arm executing agency, is additionally operable to reality by the manipulator behavior instruction order of network
When acquisition industry mechanical arm executing agency transmitted by industry mechanical arm executing agency Construction State information and its constructing
The number of construction action is completed in journey, and completes the number of construction action in the construction process according to industry mechanical arm executing agency
Conversion obtains corresponding processing capacity data information, by handheld terminal communication module by the Construction State of industry mechanical arm executing agency
Information and processing capacity data information are externally sent；The intelligent handhold control terminal further includes handheld terminal call module, is used
Broadcasting is sent and received in the acquisition for carrying out call voice data by handheld terminal communication module；The intelligent handhold control terminal
Intelligent handhold controller when receiving the remarkable action warning message from data server by handheld terminal communication module, to
Industry mechanical arm executing agency sends the manipulator behavior control instruction for stopping construction action；
The video monitoring mechanism is installed on processing construction site, including camera, automatically controlled holder, video monitoring controller and regards
Frequency end communication module；Camera is mounted on automatically controlled holder, for acquiring processing construction according to the control of video monitoring controller
Industry mechanical arm executing agency executes the construction site video data of construction action in scene, and returns to video monitoring control
Device；Automatically controlled holder is used for the shooting azimuth of the control adjustment camera according to video monitoring controller；Video end communication module
It is connected to internet, correspondence with foreign country is carried out for passing through internet；Video monitoring controller is used for or is led to by video end
Believe that module receives the shooting action instruction order from internet, corresponding shooting action is sent to camera and automatically controlled holder
Control instruction, construction site video data acquiring and shooting azimuth to camera are controlled and are adjusted, and are obtained in real time
The construction site video data for taking camera to acquire, is externally sent by video end communication module；
The data server is set in internet, including data terminal communication module, Data Storage and service
Processing module；Data terminal communication module is connected to internet, and correspondence with foreign country is carried out for passing through internet；Data storage tube
Reason module is used to connect by the internet that data terminal communication module is established, and receives what intelligent handhold control terminal was externally sent
What the Construction State information and processing capacity data information and video monitoring mechanism of industry mechanical arm executing agency were externally sent applies
Work live video data, and the information to receiving and data carry out database purchase processing；Service processing module is for passing through
The internet connection that data terminal communication module is established, receives data service request or remote control from remote mobile terminal
Request, and corresponding information or data is extracted from Data Storage according to data service request and is back to remote mobile end
End to intelligent handhold control terminal sends corresponding manipulator behavior instruction order or to video monitoring according to remote control notification
Mechanism sends corresponding shooting action instruction order；Service processing module is to receive the manipulator from remote mobile terminal remote
When process control is asked, for sending corresponding manipulator behavior to intelligent handhold control terminal according to manipulator remote control notification
Instruction order；Service processing module is used for root when receiving the video monitoring remote control notification from remote mobile terminal
According to video monitoring remote control notification corresponding shooting action instruction order is sent to video monitoring mechanism；The service processing mould
Block is additionally operable to the internet connection established by data terminal communication module, and it is whole with remote mobile to establish intelligent handhold control terminal
Call voice data connection path between end realizes call voice number between intelligent handhold control terminal and remote mobile terminal
According to mutual biography；The data server further includes construction judging treatmenting module, for being come from from Data Storage extraction
The real-time construction site video data of video monitoring mechanism, the industrial machine presented according to real-time construction site video data
The construction action that Xie Shou executing agencies execute, the action execution position for identifying industry mechanical arm executing agency is handled by video
It sets, and combines the Construction State information of the industry mechanical arm executing agency from intelligent handhold control terminal, judge industrial machinery
Whether the action execution position of hand executing agency matches with its Construction State, and in the dynamic of judgement industry mechanical arm executing agency
When making execution position and its Construction State and not matching that, by data terminal communication module to intelligent handhold control terminal sending action
Abnormal alarm information；The construction judging treatmenting module of data server is additionally operable to the action in judgement industry mechanical arm executing agency
When execution position is not matched that with its Construction State, notify service processing module to remote mobile terminal sending action abnormal alarm
Information, and service processing module is notified initiatively to extract applying in real time from video monitoring mechanism from Data Storage
Work live video data is simultaneously sent to remote mobile terminal and is shown in real time；
The remote mobile terminal packet is set in mobile communications network, include mobile terminal communication module, mobile client end module and
Touch sensitive display unit；Mobile terminal communication module is connected to mobile communications network, for passing through mobile communications network and internet
It interconnects and carries out correspondence with foreign country；Touch sensitive display unit is used for the sensing into the display and touch input signal of row information；Mobile visitor
Family end module is used to control the display that touch sensitive display unit carries out input interface, and the touch that acquisition touch sensitive display unit senses is defeated
Enter signal, and collected touch input signal identification be converted into corresponding data service request or remote control notification,
The interconnection of the mobile communications network and internet established by mobile terminal communication module connects, by data service request or remotely
Control data is sent to data server, and receives the information or data control touch sensitive display unit from data server and carry out
Display；The input interface that the mobile client end module control touch sensitive display unit of the remote mobile terminal is shown includes manipulator
Remote control input interface and video monitoring remote control input interface；Manipulator remote control input interface is shown in control
In the case of, mobile client end module is remotely controlled for collected touch input signal identification to be converted to corresponding manipulator
System request is sent to data server；In the case where control shows video monitoring remote control input interface, mobile client
Module is sent to number for collected touch input signal identification to be converted to corresponding video monitoring remote control notification
According to server；The remote mobile terminal further includes mobile terminal call module, is conversed for passing through mobile terminal communication module
The acquisition of voice data sends and receives broadcasting.
2. industry mechanical arm remotely monitor and control system based on internet according to claim 1, which is characterized in that
The mobile client end module of the remote mobile terminal is starting to control touch sensitive display unit display manipulator remote control input
When interface and video monitoring remote control input interface, it is additionally operable to send real time video data request to data server, and connect
The real-time construction site video data that data server returns is received, and controls touch sensitive display unit and regards real-time construction site
It is shown in manipulator remote control input interface and the input of video monitoring remote control to the video image picture insertion of frequency evidence
In interface；
The service processing module of the data server receive from remote mobile terminal real time video data request when,
It is additionally operable to extract the real-time construction site video data from video monitoring mechanism and in real time from Data Storage
It is sent to remote mobile terminal.
3. industry mechanical arm remotely monitor and control system based on internet according to claim 1, which is characterized in that
The input interface that the mobile client end module control touch sensitive display unit of the remote mobile terminal is shown includes that construction data is asked
Input interface and video data is asked to ask input interface；
In the case where control shows that construction data asks input interface, mobile client end module is used for collected touch is defeated
Enter that signal identification is converted to the request of corresponding Construction State information inspection or processing capacity data information checks request, and receives number
Construction State information or processing capacity data information the control touch sensitive display unit returned according to server carries out list display；It is controlling
In the case of showing video data request input interface, mobile client end module is used for collected touch input signal identification
Corresponding real time video data request or the request of history video data are converted to, and receives the real-time of data server return
Construction site video data or the construction site video data control touch sensitive display unit of history carry out video image picture and show；
The service processing module of the data server is asked receiving the Construction State information inspection from remote mobile terminal
When asking, remote mobile terminal is sent to for extracting corresponding Construction State information from Data Storage；Data service
The service processing module of device is when receiving the processing capacity data information from remote mobile terminal and checking request, for from data
Memory management module extracts corresponding processing capacity data information and is sent to remote mobile terminal；The service processing mould of data server
Block is when receiving the real time video data request from remote mobile terminal, for being come from from Data Storage extraction
The real-time construction site video data of video monitoring mechanism is simultaneously sent to remote mobile terminal in real time；The clothes of data server
Business processing module is used for when receiving the history video data request from remote mobile terminal from Data Storage
The construction site video data for extracting corresponding historical time is sent to remote mobile terminal.
4. industry mechanical arm remotely monitor and control system based on internet according to claim 1, which is characterized in that
The intelligent handhold controller of the intelligent handhold control terminal is the intelligent terminal controller based on embedded system, including insertion
Formula system unit, display screen unit and touch input unit；Embedded system unit carries out machinery for control display screen unit
Hand controls the display of information input interface, and controls touch input unit offer and match with manipulator control information input interface
Manipulator control information corresponding to touch gestures input operation, and by handheld terminal communication module receive come from internet
Manipulator behavior instruction order, or the corresponding machinery of touch gestures input operation that acquisition touch input unit senses is manual
Information processed is simultaneously converted to corresponding manipulator behavior instruction order, and manipulator behavior instruction order is sent to industrial machine
Xie Shou executing agencies are additionally operable to acquire the construction of the industry mechanical arm executing agency transmitted by industry mechanical arm executing agency in real time
Status information and its number for completing construction action in the construction process, and according to industry mechanical arm executing agency in work progress
The middle number for completing construction action converts to obtain corresponding processing capacity data information, by handheld terminal communication module by industrial machinery
The Construction State information and processing capacity data information of hand executing agency are externally sent.
5. industry mechanical arm remotely monitor and control system based on internet according to claim 4, which is characterized in that
The display screen unit and touch input unit integrate.
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