CN106569459A - Manual control method of numerically-controlled machine tool or robot - Google Patents
Manual control method of numerically-controlled machine tool or robot Download PDFInfo
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- CN106569459A CN106569459A CN201610985395.4A CN201610985395A CN106569459A CN 106569459 A CN106569459 A CN 106569459A CN 201610985395 A CN201610985395 A CN 201610985395A CN 106569459 A CN106569459 A CN 106569459A
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- Prior art keywords
- vector
- machine tool
- robot
- mouse
- camera review
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Classifications
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
Abstract
The invention discloses a manual control method of a numerically-controlled machine tool or a robot. According to the technology, the manual control function of the numerically-controlled machine tool or the robot with a mouse and a keyboard is improved by introducing one or more vidicons, and the efficiency and safety of manual control are enhanced. An image of the machine tool is mapped to a man-machine interface through the vidicon mounted at the proper position of the machine tool. A result obtained after input signals of the mouse and the keyboard are executed is displayed on the man-machine interface in advance, and reference and comparison are formed with the vidicon image of the machine tool. In this way, higher control efficiency is guaranteed, and operation safety is guaranteed.
Description
Technical field
The invention belongs to Digit Control Machine Tool control field, is related to the control method of Digit Control Machine Tool, and in particular to Digit Control Machine Tool or
The method of robot hand control.
Background technology
With mouse (with left button, right button, intermediate roller optical mouse) keyboard (standard) microcomputer on or band
On the embedded computer of display (abbreviation control computer), easily realize that graphical interfaces is friendly, it is easy to the high efficiency of manipulation
Digit Control Machine Tool or robot Human-machine Control interface (abbreviation controlling interface).Mouse-keyboard realize hand operated control method have with
Under it is several：1) keyboard (such as cursor key) or controlling interface virtual key, control the company of lathe three dimensions all directions
Reforwarding is moved；2) mouse movement realizes that lathe is servo-actuated；3) button on mouse action graphical interfaces realizes fixed step size crawl or company
Reforwarding is moved；4) directly input character instruction control motion.But these methods have the shortcomings that it is following：1) operation, note will be completed
Meaning power is must be dispersed in two targets of display and lathe or robot, and efficiency is low, the low 2) keyboard of safety, including interface
On dummy keyboard can not control multiaxial motion simultaneously, although the low 3) mouse of execution efficiency can use the mode for dragging to control simultaneously
Two axles, efficiency high, but vibration may be caused big in dragging process, control easily deviates target；4) directly displacement commands input is needed
Displacement to be estimated, safety and inefficiency, need multiple instruction input (Fig. 1) to complete one-time positioning.
The content of the invention
The present invention improves the manual control function of mouse-keyboard by introducing single or multiple video cameras, makes Digit Control Machine Tool
The efficiency of control and safety manually strengthens.
A kind of hand operated control method of Digit Control Machine Tool or robot,
First install single in the position for being easy to observe machine tool chief axis cutter tips or robot end's fixture or executor
Individual or multiple video cameras, and by its Access Control computer；
Then, the addition camera review window on the manual interface of controlling interface, and control multiple camera reviews
The control of display；Operator indicates to be controlled manually according to camera review and interface；
By mouse, the execution of the displacement commands signal of input through keyboard mobile vector Graphics overlay on camera review,
Operator prejudges the position after movement whereby.
Mouse drag control lathe is divided into both of which：1) follower model：That is mouse movement, lathe follow mobile 2) vector
Displacement model：After i.e. left mouse button is pressed, a mobile vector distance, after left button unclamps, machine tool motion and mouse mobile vector
The displacement being directly proportional, presses in moving process in left mouse button, and lathe is waited for；Both of which can free switching.
After left mouse button is pressed, mouse drag and middle scroll wheel stir the side for producing machine tool movement position vector X (x, y, z) value
Method is：1), after left mouse button is pressed, mobile position vector X is proportional to mouse displacement (this in the plane in the position vector component of X/Y plane
Ratio value can be according to lathe feature and the autonomous setting of custom)；2) after left mouse button is pressed, position vector component of mobile position vector X in Z axis
Be directly proportional (this ratio value can be according to lathe feature and the autonomous setting of custom) to mouse roller increase and decrease amount.
Under vector shift pattern, left mouse button produces the movement instruction of mobile position vector X by pressing after release action；
Left mouse button is pressed, and to before release, system can be in real time by mobile position vector X graph visualization Overlapping display in camera review
On, operator prejudges the position after movement whereby.
Position vector X graph visualization method is：1) record the point position that left mouse button is pressed in camera review window
(ds,hs)；2) projection vector Xt (d, h) of the component of the XY axial planes of calculating position vector X in camera review window；3) calculate position
Projection vector Xz (dz, hz) of the z-component of arrow X in camera review window；4) camera review window draw with (ds,
Hs) for starting point vector length for (d, h) vector graphics；5) draw with (ds, hs) to play point vector in camera review window
Vector graphics of the length for (dz, hz).
Video camera view plane scaling scheme：1) the equilateral right angle trigonometry calibration device by known length for L lies against lathe XY
Plane slide unit, triangle calibration device right-angle side are parallel with X-direction；2) click on triangle calibration device three on camera review window to push up
Point, then operational control interface carry out proving operation, computer completes calibrated and calculated.
The algorithm of computer calibrated and calculated：1) three summits are recorded in the position of camera review window, three are identified
Right-angled apices D0 (d0, h0) in summit, X-direction summit is D1 (d1, h1) in addition, and Y-direction D2 (d2, h2) 2) calculates throwing
Shadow vector Tx=((d1-d0)/L, (h1-h0)/L), Ty=((d2-d0)/L, (h2-h0)/L；
Algorithm of the component of the XY axial planes of position vector X (x, y, z) in the projection vector of camera review window：Xt=x*Tx
+y*Ty。
When multiple photographic head, each photographic head does the demarcation of triangle calibration device.
The present invention is the Digit Control Machine Tool or robot hand that mouse-keyboard is improved by introducing single or multiple video cameras
Control function, makes the efficiency and the enhanced technology of safety of manual control.Video camera installed in lathe appropriate location is by lathe
Image map to man machine interface.Result after the input signal of mouse-keyboard is performed is displayed in man machine interface in advance, with machine
The camera review of bed forms reference and contrasts.The higher control efficiency for so ensuring that, it is ensured that the safety of operation.
Description of the drawings
Fig. 1 is traditional manual control principle drawing；
Fig. 2 is the control principle drawing of the present invention.
Specific embodiment
The present invention improves the manual control function of mouse-keyboard by introducing single or multiple video cameras, makes Digit Control Machine Tool
The efficiency of control and safety manually strengthens.
Because the control method for standard rectangular coordinate Milling Motion in Three-axes NC can be used for other types of numerical control machine
Bed or robot, therefore herein with standard rectangular coordinate Milling Motion in Three-axes NC as representative, hereinafter abbreviation lathe.
The scheme of realization is：1) it is being easy to observe the position peace of machine tool chief axis or robot end's fixture or executor
Fill single or multiple video cameras, and by its Access Control computer (Fig. 1)；2) add on the manual interface of controlling interface and image
Machine image window (Fig. 2), and the control that the multiple camera reviews of control show is 3) by the displacement commands letter of mouse, input through keyboard
Number execution mobile vector Graphics overlay on camera review, operator prejudge whereby it is mobile after position (Fig. 2).
Agreement mouse could produce the effect that mouse drag controls lathe in camera review window ranges, and mouse is removed
Action is not produced after camera review window.
Mouse drag control lathe is divided into both of which：1) follower model：That is mouse movement, lathe follow mobile 2) vector
Displacement model：After i.e. left mouse button is pressed, a mobile vector distance, after left button unclamps, machine tool motion and mouse mobile vector
The displacement being directly proportional, presses in moving process in left mouse button, and lathe is waited for.Both of which can free switching.
With Keyboard Control lathe as the pattern of mouse control lathe.By the following method, keyboard is realized and mouse control
The equivalent action of system：1) left mouse button keyboard Ctrl replace 2) mouse mobile vector by four cursors up and down on keyboard
Key simulation produces 3 mouse roller key increments by two key simulated implementations of keyboard Home-End.The side of the analog mouse of keyboard
Case such as can replace left mouse button using shift key with sets itself.Because keyboard can be modeled to mouse, institute is following
Text only discusses the scheme of mouse control.
After left mouse button is pressed, mouse drag and middle scroll wheel stir the side for producing machine tool movement position vector X (x, y, z) value
Method is：1), after left mouse button is pressed, mobile position vector X is proportional to mouse displacement (this in the plane in the position vector component of X/Y plane
Ratio value can be according to lathe feature and the autonomous setting of custom)；2) after left mouse button is pressed, position vector component of mobile position vector X in Z axis
Be directly proportional (this ratio value can be according to lathe feature and the autonomous setting of custom) to mouse roller increase and decrease amount.
Under vector shift pattern, left mouse button produces the movement instruction of mobile position vector X by pressing after release action.
Left mouse button is pressed, and to before release, system can be in real time by mobile position vector X graph visualization Overlapping display in camera review
On, operator prejudges the position after movement whereby.
Position vector X graph visualization method is：1) record left mouse button (to set in the point position that camera review window is pressed
For (ds, and hs))；2) calculate position vector X XY axial planes component camera review window projection vector (be set to Xt (d,
h))；3) calculate the projection vector (be set to Xz (dz, hz)) of the z-component in camera review window of position vector X；4) in video camera
Image window draw with (ds, hs) for starting point vector length for (d, h) vector graphics.5) camera review window draw with
(ds, hs) for starting point vector length for (dz, hz) vector graphics.
As embodiment, video camera view plane scaling scheme：1) the equilateral right angle trigonometry calibration device by known length for L is put down
Lathe X/Y plane slide unit is put in, triangle calibration device right-angle side is parallel with X-direction；2) triangular sign is clicked on camera review window
Determine three summits of device, then operational control interface carries out proving operation, and computer completes calibrated and calculated.
The algorithm of computer calibrated and calculated：1) three summits are recorded in the position of camera review window, three are identified
Right-angled apices D0 (d0, h0) in summit, X-direction summit is D1 (d1, h1) in addition, and Y-direction D2 (d2, h2) 2) calculates throwing
Shadow vector Tx=((d1-d0)/L, (h1-h0)/L), Ty=((d2-d0)/L, (h2-h0)/L).
Algorithm of the component of the XY axial planes of position vector X (x, y, z) in the projection vector of camera review window：Xt=x*Tx
+y*Ty；
When multiple photographic head, each photographic head must do the demarcation of triangle calibration device.
When demarcating, the focal length of video camera chooses focal length, and the visual angle of imaging can meet manipulation.Mark can so be reduced
Determine error.
This method can extend to the motor control including Z axis, also in the protection domain etc of this patent.
Video camera regards Z-direction scaling scheme：1) the equilateral right angle trigonometry calibration device by known length for L is vertically put in lathe
X/Y plane slide unit, triangle calibration device right-angle side are parallel with X-direction；2) the click triangle calibration device three on camera review window
Summit, then operational control interface carry out proving operation, computer completes calibrated and calculated.
The algorithm of computer calibrated and calculated：1) three summits are recorded in the position of camera review window, three are identified
Right-angled apices D0 (d0, h0) in summit, X-direction summit is D1 (d1, h1) in addition, and Z-direction D2 (d2, h2) 2) calculates throwing
Shadow vector Tx=((d1-d0)/L, (h1-h0)/L), Tz=((d2-d0)/L, (h2-h0)/L).
Throwing of the component of the XY axial planes of demarcation position vector X (x, y, z) of 2 type of summary in camera review window
The algorithm of shadow vector：Xt=x*Tx+y*Ty+z*Tz.
It should be noted that the statement of all uses " first " and " second " is for differentiation two in the embodiment of the present invention
The parameter of the entity or non-equal of individual same names non-equal, it is seen that the convenience of " first " " second " only for statement, should not
The restriction to the embodiment of the present invention is interpreted as, subsequent embodiment is no longer illustrated one by one to this.
Those of ordinary skill in the art should be understood：The discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the present invention, above example
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and is existed such as
Many other changes of the different aspect of the upper described present invention, for simple and clear their no offers in details.
In addition, to simplify explanation and discussing, and in order to obscure the invention, can in the accompanying drawing for being provided
To illustrate or can not illustrate that the known power ground with integrated circuit (IC) chip and other parts is connected.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this have also contemplated that following facts, i.e., with regard to this
The details of the embodiment of a little block diagram arrangements be depend highly on the platform that will implement the present invention (that is, these details should
It is completely in the range of the understanding of those skilled in the art).Elaborating detail (for example, circuit) to describe the present invention's
In the case of exemplary embodiment, it will be apparent to those skilled in the art that these details can not there is no
In the case of or implement the present invention in the case that these details are changed.Therefore, these descriptions are considered as explanation
It is property rather than restricted.
Although invention has been described to have been incorporated with specific embodiment of the invention, according to retouching above
State, many replacements of these embodiments, modification and modification will be apparent for those of ordinary skills.Example
Such as, other memory architectures (for example, dynamic ram (DRAM)) can use discussed embodiment.
Embodiments of the invention be intended to fall within the broad range of claims it is all such replace,
Modification and modification.Therefore, all any omissions within the spirit and principles in the present invention, made, modification, equivalent, improvement
Deng should be included within the scope of the present invention.
Claims (9)
1. a kind of hand operated control method of Digit Control Machine Tool or robot, including below step：
First the position for being easy to observe machine tool chief axis cutter tips or robot end's fixture or executor install it is single or
Multiple video cameras, and by its Access Control computer；
Then, on the manual interface of controlling interface camera review window, and the multiple camera reviews of control is added to show
Control；Operator indicates to be controlled manually according to camera review and interface；
Characterized in that, by mouse, the execution of the displacement commands signal of input through keyboard mobile vector Graphics overlay in video camera
On image, operator prejudges the position after movement whereby.
2. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 1 or robot, it is characterised in that mouse drag
Control lathe is divided into both of which：1) follower model：That is mouse movement, lathe follow mobile 2) vector shift pattern：That is mouse
After left button is pressed, a mobile vector distance, after left button unclamps, the displacement that machine tool motion is directly proportional to mouse mobile vector,
Left mouse button is pressed in moving process, and lathe is waited for；Both of which can free switching.
3. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 1 or robot, it is characterised in that left mouse button
After pressing, the method that mouse drag stirs generation machine tool movement position vector X (x, y, z) value with middle scroll wheel is：1) left mouse button
After pressing, mobile position vector X is proportional to mouse displacement in the plane in the position vector component of X/Y plane；2) after left mouse button is pressed,
Mobile position vector X is directly proportional to mouse roller increase and decrease amount in the position vector component of Z axis.
4. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 3 or robot, it is characterised in that vector shift
Under pattern, left mouse button produces the movement instruction of mobile position vector X by pressing after release action；Press in left mouse button, to pine
Before opening, system can be in real time by mobile position vector X graph visualization Overlapping display on camera review, and operator is advance whereby
Judge the position after movement.
5. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 4 or robot, it is characterised in that position vector X is schemed
Shape method for visualizing is：1) record the point position (ds, hs) that left mouse button is pressed in camera review window；2) calculate position vector
Projection vector Xt (d, h) of the component of the XY axial planes of X in camera review window；3) z-component of position vector X is calculated in shooting
The projection vector Xz (dz, hz) of machine image window；4) draw in camera review window and with (ds, hs) for starting point vector length be
The vector graphics of (d, h)；5) camera review window draw with (ds, hs) for starting point vector length for (dz, hz) vector
Figure.
6. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 5 or robot, it is characterised in that video camera is regarded
Plane reference scheme：1) the equilateral right angle trigonometry calibration device by known length for L lies against lathe X/Y plane slide unit, and triangle is demarcated
Device right-angle side is parallel with X-direction；2) three summits of click triangle calibration device, then operational control circle on camera review window
Face carries out proving operation, and computer completes calibrated and calculated.
7. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 6 or robot, it is characterised in that computer mark
The algorithm that devise a stratagem is calculated：1) three summits are recorded in the position of camera review window, the right-angled apices in three summits are identified
D0 (d0, h0), X-direction summit is D1 (d1, h1) in addition, and Y-direction D2 (d2, h2) 2) calculates projection vector Tx=((d1-
D0)/L, (h1-h0)/L), Ty=((d2-d0)/L, (h2-h0)/L；
Algorithm of the component of the XY axial planes of position vector X (x, y, z) in the projection vector of camera review window：Xt=x*Tx+y*
Ty。
8. the scaling method of a kind of Digit Control Machine Tool as claimed in claim 7 or robot, can extend to the motion including Z axis
Control.
9. the hand operated control method of a kind of Digit Control Machine Tool as claimed in claim 6 or robot, it is characterised in that for multiple
The situation of photographic head, each photographic head do the demarcation of triangle calibration device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610985395.4A CN106569459A (en) | 2016-11-09 | 2016-11-09 | Manual control method of numerically-controlled machine tool or robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985395.4A CN106569459A (en) | 2016-11-09 | 2016-11-09 | Manual control method of numerically-controlled machine tool or robot |
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| CN201610985395.4A Pending CN106569459A (en) | 2016-11-09 | 2016-11-09 | Manual control method of numerically-controlled machine tool or robot |
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| CN107186715A (en) * | 2017-05-25 | 2017-09-22 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN109431789A (en) * | 2018-10-29 | 2019-03-08 | 泉州医学高等专科学校 | A kind of intelligent massaging equipment |
| CN111221443A (en) * | 2018-11-23 | 2020-06-02 | 广州幻视电子科技有限公司 | Visual motion control graphic UI technology |
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Application publication date: 20170419 |