CN105159157A - Video-assisted system for industrial manipulator remote control - Google Patents
Video-assisted system for industrial manipulator remote control Download PDFInfo
- Publication number
- CN105159157A CN105159157A CN201510462493.5A CN201510462493A CN105159157A CN 105159157 A CN105159157 A CN 105159157A CN 201510462493 A CN201510462493 A CN 201510462493A CN 105159157 A CN105159157 A CN 105159157A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- module
- acquisition device
- control
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36517—Selecting nc program points to mated manipulator, robot program
Abstract
The invention discloses a video-assisted system for industrial manipulator remote control, comprising a video acquisition device and a mobile control terminal. The video acquisition device, which is arranged at the top end of a manipulator mounting base, comprises a real-time image acquisition module used for acquiring an image of a manipulator in real time, a judgment module used for making judgment according to the image and a power module of the manipulator, and a first communication module used for sending warning information and the image information acquired in real time to the mobile control terminal when the manipulator does not act normally in an energized state. The mobile control terminal comprises a second communication module used for receiving the warning information and the real-time image information, a steering control module used for making the video acquisition device rotate correspondingly, and a manipulator stop control module used for issuing a stop control signal to the manipulator. The video-assisted system further comprises a third communication module arranged on the manipulator and a manipulator control module, and the manipulator control module makes the manipulator stop working according to the received stop control signal.
Description
Technical field
The present invention relates to the video auxiliary system for industry mechanical arm Long-distance Control.
Background technology
Mechanical arm can imitate some holding function of staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.The volume of industry mechanical arm self is comparatively large, parts are more, internal control circuit, topworks etc. are comparatively complicated.And the staff in workshop generally only understands how to operate industry mechanical arm, but the fault that mechanical arm easily occurs is not known.If when industry mechanical arm breaks down, shop personnel are not probably near the mechanical arm of this fault, immediately can not find that fault has appearred in mechanical arm, even and if found that mechanical arm breaks down, but the staff in workshop can not overhaul, and the slip-stick artist of specialty is seldom direct in workshop, so, when mechanical arm breaks down be difficult to immediately keep in repair, cause servicing time increase, increase human cost, maintenance difficult, greatly reduce production efficiency.
Summary of the invention
For above-mentioned the deficiencies in the prior art, technical matters to be solved by this invention is: provide and a kind ofly immediately can know mechanical arm and whether occur situation, facilitate slip-stick artist's remote guide field personnel to carry out overhauling, long-rangely can controlling mechanical arm, can real-time, omnibearingly observe the video auxiliary system for industry mechanical arm Long-distance Control of the image on the spot of mechanical arm.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is: provide a kind of video auxiliary system for industry mechanical arm Long-distance Control, the mobile control terminal comprising video acquisition device and be connected with its communication;
Described video acquisition device be movably installed in industry mechanical arm mount pad top and can carry out left and right, under, lower rotation, described video adopts device to comprise: image real-time acquisition module, for the operating state image of Real-time Collection mechanical arm; Judge module, for according to Real-time Collection to image judge in conjunction with the power module of industry mechanical arm, to judge the mechanical arm whether non-regular event when being energized; First communication module, obtain mechanical arm when being energized during non-regular event for judging when described judge module, the image information of transmission information warning and Real-time Collection is to mobile control terminal;
Described mobile control terminal comprises: the second communication module, for receiving information warning and the real-time image information of the transmission of described video acquisition device; Course changing control module, carries out corresponding rotation, to control image pickup scope in real time for controlling video acquisition device; Mechanical arm stops control module, for sending mechanical arm stop control signal to mechanical arm according to the information warning received;
Described video auxiliary system also comprises is located at the 3rd communication module on mechanical arm and manipulator control module, and the stop control signal that described manipulator control module is used for receiving according to the 3rd communication module controls mechanical arm and quits work.
Further, described course changing control module comprises for controlling left steering control module, right turn control module, lower rotation control module, the upper rotation control module that video acquisition device is left and right, rotate up and down respectively;
Described left steering control module comprises: left steering command reception submodule, touches instruction for the left steering receiving user's finger sliding left by the touch screen of mobile control terminal; Left steering controls submodule, controls video acquisition device turn left for the left steering touch instruction received according to described left steering command reception module;
Described right turn control module comprises: right turn command reception submodule, touches instruction for the right turn receiving user's finger sliding to the right by the touch screen of mobile control terminal; Right turn controls submodule, controls video acquisition device turn right for the right turn touch instruction received according to described right turn command reception module;
Described lower rotation control module comprises: upper rotation command receives submodule, touches instruction for the upper rotation receiving user's finger upwards sliding by the touch screen of mobile control terminal; Upper rotation controls submodule, controls video acquisition device upwards rotate for the upper rotation touch instruction received according to described upper rotation command receiver module;
Described lower rotation control module comprises: lower rotation command receives submodule, touches instruction for receiving user's finger by the touch screen of mobile control terminal to the lower rotation of gliding; Lower rotation controls submodule, controls video acquisition device rotate for the lower rotation touch instruction received according to described lower rotation command receiver module.
Further, described mobile control terminal also comprises focus control block, and described focus control block comprises: two-dimensional coordinate positioning acquisition submodule, for gathering the two-dimensional coordinate in the touch screen of user's finger contact terminal control terminal; Two-dimensional coordinate focus control submodule, for sending position of focusing facula instruction to video acquisition device according to the two-dimensional coordinate collected;
Described video acquisition device also comprises position of focusing facula control module, positions for the position of focusing facula instruction sent according to mobile control terminal and focuses on the respective two-dimensional coordinate position in current acquired image.
Further, described mobile control terminal also comprises aligned bundle control module, and described aligned bundle control module comprises: two-dimensional coordinate positioning acquisition submodule, moves two-dimensional coordinate in the touch screen of control terminal for gathering user's finger contact; Aligned bundle emission control submodule, for sending aligned bundle firing order according to the two-dimensional coordinate collected;
Described video acquisition device also comprises: beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.
Further, described mobile control terminal also comprises aligned bundle control module, sends aligned bundle firing order for sending position of focusing facula instruction at two-dimensional coordinate focus control block and focusing on successfully; Described video acquisition device also comprises beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.
Further, described mobile control terminal also comprises mechanical arm unlatching control module and comprises, and described mechanical arm is opened control module and comprised: open command receives submodule, for being received the open command that user issues by the touch-screen of mobile control terminal; Mechanical arm is opened and is controlled submodule, controls signal to mechanical arm to control mechanical arm regular event for sending unlatching according to described open command.
Video auxiliary system for industry mechanical arm Long-distance Control of the present invention, video acquisition device is monitoring after mechanical arm breaks down, and can notify mobile control terminal, the user of mobile control terminal can learn the working condition of mechanical arm in workshop immediately.After user learns that in workshop, mechanical arm breaks down, directly can send mechanical arm power-off or stop action command on mobile control terminal, mechanical arm carries out power-off or quits work, and the time reserving abundance contacts for user and shop personnel, instructs shop personnel to carry out maintenance and inspection.Therefore, user need not arrive workshop can carry out remote guide maintenance to mechanical arm immediately, and robotic failure can be found immediately, avoids larger problem or the generation of security incident, has saved servicing time, reduced maintenance cost, improved work efficiency.When user is when being undertaken by voice and on-the-spot staff linking up or guide field staff keeps in repair, when user talks about some positions or manipulator part, directly can click the position in image shown on screen or manipulator part, then a beam emissions instruction is issued, after video acquisition device receives information, open light source immediately, send position or the manipulator part of corresponding two-dimensional coordinate in the light velocity to monitoring on the spot, light beam accurately can navigate to parts specified by user or position, therefore, field personnel is by the position pointed by light beam or parts, can the content said of the clearer user of understanding, facilitate the communication between them, further quickening maintenance speed, increase work efficiency.When linking up with field personnel, by the appointment of two-dimensional coordinate, the mode of beam emissions correspondence position, carry out the content expressed by assisting users, the content that the easier user of understanding of field personnel is said, adds communication effectiveness, decreases servicing time, has saved human cost, improves work efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the block diagram of the present invention for video auxiliary system first embodiment of industry mechanical arm Long-distance Control.
Fig. 2 is the block diagram of the present invention for video auxiliary system second embodiment of industry mechanical arm Long-distance Control.
Fig. 3 is the block diagram of the present invention for video auxiliary system the 3rd embodiment of industry mechanical arm Long-distance Control.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, Fig. 1 is the block diagram of the present invention for video auxiliary system first embodiment of industry mechanical arm Long-distance Control.The video auxiliary system for industry mechanical arm Long-distance Control of the present embodiment comprises: video acquisition device and the mobile control terminal be connected with its communication.Wherein:
Described video acquisition device includes but not limited to monitoring camera, monopod video camera etc., and all have the electronic equipment of camera function.Described mobile control terminal includes but not limited to: mobile phone, panel computer, removable computer, PDA(PersonalDigitalAssistant, personal digital assistant) etc. all there is supercomputing and can the robot calculator device of installation system software and application software, it can carry out numerical evaluation, can logical calculated be carried out again, also there is store-memory function.Can run according to program, automatically, the modernization intelligent electronic device of high speed processing mass data.
In the present embodiment, described industry mechanical arm is manipulator of injection machine, it comprises is fixed on ground pedestal, fixedly stands on mechanical arm mount pad on pedestal and mechanical arm body, also comprise laterally to be extended forward by the top of mount pad and for the forward and backward movement of mechanical arm movable track, laterally extended to side by mount pad top, move left and right track with horizontal movable track entirety in L shape and for the left and right movement of mechanical arm.Described video acquisition device is arranged on the top of mount pad, specifically can be arranged on the outer end of movable track or be arranged on the outer end moving left and right track.
Described video acquisition device be movably installed in industry mechanical arm mount pad top and can carry out left and right, under, lower rotation, described video adopts device to comprise: image real-time acquisition module, for the operating state image of Real-time Collection mechanical arm; Judge module, for according to Real-time Collection to image judge in conjunction with the power module of industry mechanical arm, to judge the mechanical arm whether non-regular event when being energized; First communication module, obtain mechanical arm when being energized during non-regular event for judging when described judge module, the image information of transmission information warning and Real-time Collection is to mobile control terminal.Wherein:
Described video acquisition device can electrically connect with the circuit of each actuating motor of the power module of mechanical arm, mechanical arm and mechanical arm inside, judges information accurately in order to be supplied to judge module.The non-regular event of above-mentioned mechanical arm includes but not limited to: mechanical arm is attonity, the slow motion comparing regular event, snap action etc. when being energized.Generally speaking, mechanical arm in energising under normal circumstances, one of them or multiple actuating motor can carry out work by driving device hand, internal circuit is in normal operating conditions, and when mechanical arm breaks down, likely that actuating motor breaks down, cause the non-regular event of mechanical arm, so the judge module of this video acquisition device then judges mechanical arm because of fault after non-regular event, be passed to the first communication module, described first communication module is then for when judge module judges the non-regular event obtained, send the image information of information warning and Real-time Collection to mobile control terminal, the user of mobile control terminal is after receiving this information, the situation on the spot at realtime graphic observation mechanical arm place can be opened.
In the present embodiment, when judge module judges to obtain mechanical arm regular event, described first communication module can transmit real-time image information to mobile control terminal, the situation on the spot at the observation mechanical arm place can followed one's inclinations at any time to facilitate the user of mobile control terminal; Certainly, described first communication module also can adopt non-active mode to transmit real-time image information, the observation instruction such as sent according to mobile control terminal and send real-time image information etc., so, first communication module can moil always, makes its longer service life.
Described mobile control terminal comprises: the second communication module, for receiving information warning and the real-time image information of the transmission of described video acquisition device; Course changing control module, carries out corresponding rotation, to control image pickup scope in real time for controlling video acquisition device; Mechanical arm stops control module, for sending mechanical arm stop control signal to mechanical arm according to the information warning received; Described video auxiliary system also comprises is located at the 3rd communication module on mechanical arm and manipulator control module, and the stop control signal that described manipulator control module is used for receiving according to the 3rd communication module controls mechanical arm and quits work.Described mechanical arm has controller, such as a PLC.Wherein:
Described course changing control module comprises for controlling left steering control module, right turn control module, lower rotation control module, the upper rotation control module that video acquisition device is left and right, rotate up and down respectively.
Described left steering control module comprises: left steering command reception submodule, touches instruction for the left steering receiving user's finger sliding left by the touch screen of mobile control terminal; Left steering controls submodule, controls video acquisition device turn left for the left steering touch instruction received according to described left steering command reception module;
Described right turn control module comprises: right turn command reception submodule, touches instruction for the right turn receiving user's finger sliding to the right by the touch screen of mobile control terminal; Right turn controls submodule, controls video acquisition device turn right for the right turn touch instruction received according to described right turn command reception module;
Described lower rotation control module comprises: upper rotation command receives submodule, touches instruction for the upper rotation receiving user's finger upwards sliding by the touch screen of mobile control terminal; Upper rotation controls submodule, controls video acquisition device upwards rotate for the upper rotation touch instruction received according to described upper rotation command receiver module;
Described lower rotation control module comprises: lower rotation command receives submodule, touches instruction for receiving user's finger by the touch screen of mobile control terminal to the lower rotation of gliding; Lower rotation controls submodule, controls video acquisition device rotate for the lower rotation touch instruction received according to described lower rotation command receiver module.
In the present embodiment, the communication between described first communication module and the second communication module, between the second communication module and the 3rd communication module can be WIFI, GPRS, wide area network, Metropolitan Area Network (MAN), LAN (Local Area Network), bluetooth, infrared etc. the mechanics of communication that existing any one has wireless telecommunications, data wireless transmits.
Specifically in conjunction with example: video acquisition module is camera, is built-in with control module, camera is movably arranged on the outer end of movable track and is rotated by upper and lower, left and right, to collect different image pickup scopes.Mobile control terminal is for having Android system or apple IOS system mobile phone, mobile phone is provided with the APP for controlling camera, video acquisition device in this example also comprises server, for vouchsafing user right or administrator right, hold after the cellphone subscriber with above-mentioned APP needs to open APP, select registering account, after succeeding in registration, associate the mechanical arm camera of administering.In this example, associated by user name and the device id that is arranged on plant machinery camera on hand, observed at any time by camera to enable the user after registration, control corresponding mechanical arm.User needs to log in into after APP, each function button clicked in the APP software page controls camera and mechanical arm, such as " out of service " button, after user clicks, mobile control terminal sends signal out of service to mechanical arm, after mechanical arm receives this signal by the 3rd communication module, internal controller controls mechanical arm body and quits work, and also can directly control power module power-off.Again such as " monitor " button in real time, after user clicks, mobile control terminal issues a real-time monitored instruction to camera, after camera receives this signal by the second communication module, the image of real time record is passed to mobile control terminal by the second communication module, and user can observe the image of camera Real-time Collection in the related interfaces of APP.
In this example, the power module of camera and mechanical arm, each motor of mechanical arm, after internal circuit electrically connects, can be real-time recognize mechanical arm whether regular event or action when being energized, when the judge module in camera judges the non-regular event of mechanical arm or action, send warning or information and real time video camera images information to mobile control terminal by the second communication module at once, after mobile control terminal receives this signal, user's mechanical arm is pointed out to break down immediately, after user sees information, open real-time image information immediately to observe, if user thinks that image pickup scope is not the scope wanted, can also by left, right, on, lower slider mobile phone screen is to send camera rotation command, camera rotates after receiving instruction accordingly, thus make user observe the image of optimal viewing angle.After user observes the image of optimal viewing angle, can direct-dial telephone notice workshop staff, instruct him to carry out on-site maintenance, so, for some simple failure problems, user need not arrive scene in person, can the staff of guide field carry out checking, keeping in repair in this way.Improve work efficiency, when ensureing to run into same problem from now on, field personnel can instruct and can check mechanical arm voluntarily, keeps in repair simultaneously.
Embodiment of the present invention, video acquisition device is monitoring after mechanical arm breaks down, and can notify mobile control terminal, the user of mobile control terminal can learn the working condition of mechanical arm in workshop immediately.After user learns that in workshop, mechanical arm breaks down, directly can send mechanical arm power-off or stop action command on mobile control terminal, mechanical arm carries out power-off or quits work, the time reserving abundance contacts for user and shop personnel, shop personnel are instructed to carry out maintenance and inspection, the video auxiliary system for industry mechanical arm Long-distance Control of the present embodiment, user need not arrive workshop can carry out remote guide maintenance to mechanical arm immediately, robotic failure can be found immediately, avoid larger problem or the generation of security incident, save servicing time, reduce maintenance cost, improve work efficiency.
Refer to Fig. 2, Fig. 2 is the block diagram of the present invention for video auxiliary system second embodiment of industry mechanical arm Long-distance Control.The mobile control terminal that the present embodiment comprises video acquisition device and is connected with its communication.The video acquisition device of the present embodiment comprises and the first example structure or the same or analogous image real-time acquisition module of function, judge module, the first communication module; The mobile control terminal of the present embodiment comprises and stops control module with the first example structure or same or analogous second communication module of function, course changing control module, mechanical arm; Also comprise with the first example structure or function is same or analogous is located at the 3rd communication module on mechanical arm and manipulator control module.The present embodiment move control terminal optionally comprise comprise with the first example structure or function same or analogous left steering control module, right turn control module comprises, upper rotation control module comprises, lower rotation control module.
The mobile control terminal of the present embodiment also comprises aligned bundle control module.Described aligned bundle control module comprises: two-dimensional coordinate positioning acquisition submodule, moves two-dimensional coordinate in the touch screen of control terminal for gathering user's finger contact; Aligned bundle emission control submodule, for sending aligned bundle firing order according to the two-dimensional coordinate collected.Particularly:
In the present embodiment, when user to observe in realtime graphic and in the engineering of guide field staff maintenance and inspection, some component locations (namely above-mentioned contact is to the two-dimensional coordinate in touch screen) in image shown by user contact to mobile terminal, and issue beam emissions instruction, namely mobile control terminal sends beam emissions instruction to video acquisition device, with control in video acquisition device transmitted beam to the scope of making a video recording with the position corresponding to the two-dimensional coordinate of institute's instruction.
Described video acquisition device also comprises: beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.So, can realize user when mobile control terminal is given directions a certain parts of mechanical arm and issued beam emissions instruction, video acquisition device can according to this instruction issue light beam to the corresponding parts of the mechanical arm at scene.
In the present embodiment, described mobile control terminal also comprises mechanical arm unlatching control module and comprises, and described mechanical arm is opened control module and comprised: open command receives submodule, for being received the open command that user issues by the touch-screen of mobile control terminal; Mechanical arm is opened and is controlled submodule, controls signal to mechanical arm to control mechanical arm regular event for sending unlatching according to described open command.So, when user guided field staff keep in repair complete after, directly can control mechanical arm by user side be energized or control mechanical arm regular event, when user's not timing is overhauled mechanical arm, user directly can send stop signal, start signal by mobile control terminal, user friendly control.
In the present embodiment, in mobile control terminal, record the corresponding relation of control terminal screen two-dimensional coordinate and video acquisition device place 3 d space coordinate.So, when user gives directions some two-dimensional coordinates, video acquisition device can navigate to corresponding position very accurately.
The embodiment of the present invention is compared with the first embodiment, its advantage is: when user is when being undertaken by voice and on-the-spot staff linking up or guide field staff keeps in repair, when user talks about some positions or manipulator part, directly can click the position in image shown on screen or manipulator part, then a beam emissions instruction is issued, after video acquisition device receives information, open light source immediately, send position or the manipulator part of corresponding two-dimensional coordinate in the light velocity to monitoring on the spot, light beam accurately can navigate to parts specified by user or position, therefore, field personnel is by the position pointed by light beam or parts, can the content said of the clearer user of understanding, facilitate the communication between them, further quickening maintenance speed, increase work efficiency.
Refer to Fig. 3, Fig. 3 is the block diagram of the present invention for video auxiliary system the 3rd embodiment of industry mechanical arm Long-distance Control.The mobile control terminal that the present embodiment comprises video acquisition device and is connected with its communication.The video acquisition device of the present embodiment comprises and the first example structure or the same or analogous image real-time acquisition module of function, judge module, the first communication module; The mobile control terminal of the present embodiment comprises and stops control module with the first example structure or same or analogous second communication module of function, course changing control module, mechanical arm; Also comprise with the first example structure or function is same or analogous is located at the 3rd communication module on mechanical arm and manipulator control module.The present embodiment move control terminal optionally comprise comprise with the first example structure or function same or analogous left steering control module, right turn control module comprises, upper rotation control module comprises, lower rotation control module.
The mobile control terminal of the present embodiment also comprises focus control block, and described focus control block comprises: two-dimensional coordinate positioning acquisition submodule, for gathering the two-dimensional coordinate in the touch screen of user's finger contact terminal control terminal; Two-dimensional coordinate focus control submodule, for sending position of focusing facula instruction to video acquisition device according to the two-dimensional coordinate collected; Described video acquisition device also comprises position of focusing facula control module, positions for the position of focusing facula instruction sent according to mobile control terminal and focuses on the respective two-dimensional coordinate position in current acquired image.
Described mobile control terminal also comprises aligned bundle control module, sends aligned bundle firing order for sending position of focusing facula instruction at two-dimensional coordinate focus control block and focusing on successfully; Described video acquisition device also comprises beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.
The embodiment of the present invention, when the emphasis of user is at a certain parts, and these parts are clear not or when needing to amplify, need to focus on this position control video acquisition device, so, can make that user is clearer sees relevant position or parts.The mobile control terminal of the present embodiment also comprises Nonlinear magnify, reduces control module, when user wants the image amplifying a certain parts, can first focus on these parts, then clicked by mobile control terminal and the function command button such as to amplify, reduce and issue an amplification, reduce instruction to video acquisition device, video acquisition device according to dependent instruction zoom, to meet the demand of user.After position of focusing facula success, at user option click light velocity control module assigns beam emissions instruction, makes video acquisition device transmitted beam to certain position that user specifies or parts.
To sum up, video auxiliary system of the present invention can make the state of each mechanical arm of user's remote real-time monitoring, if one or more mechanical hand wherein breaks down, client user can remote guide field personnel simply keep in repair, mobile control terminal user can carry out upper and lower, left and right slip and move accordingly to manipulate camera head in the touch screen of mobile control terminal, makes image pickup scope wider.
When linking up with field personnel, by the appointment of two-dimensional coordinate, the mode of beam emissions correspondence position, carry out the content expressed by assisting users, the content that the easier user of understanding of field personnel is said, adds communication effectiveness, decreases servicing time, has saved human cost, improves work efficiency.
These are only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. for a video auxiliary system for industry mechanical arm Long-distance Control, the mobile control terminal comprising video acquisition device and be connected with its communication;
Described video acquisition device be movably installed in industry mechanical arm mount pad top and can carry out left and right, under, lower rotation, described video adopts device to comprise: image real-time acquisition module, for the operating state image of Real-time Collection mechanical arm; Judge module, for according to Real-time Collection to image judge in conjunction with the power module of industry mechanical arm, to judge the mechanical arm whether non-regular event when being energized; First communication module, obtain mechanical arm when being energized during non-regular event for judging when described judge module, the image information of transmission information warning and Real-time Collection is to mobile control terminal;
Described mobile control terminal comprises: the second communication module, for receiving information warning and the real-time image information of the transmission of described video acquisition device; Course changing control module, carries out corresponding rotation, to control image pickup scope in real time for controlling video acquisition device; Mechanical arm stops control module, for sending mechanical arm stop control signal to mechanical arm according to the information warning received;
Described video auxiliary system also comprises is located at the 3rd communication module on mechanical arm and manipulator control module, and the stop control signal that described manipulator control module is used for receiving according to the 3rd communication module controls mechanical arm and quits work.
2., as claimed in claim 1 for the video auxiliary system of industry mechanical arm Long-distance Control, it is characterized in that: described course changing control module comprises for controlling left steering control module, right turn control module, lower rotation control module, the upper rotation control module that video acquisition device is left and right, rotate up and down respectively;
Described left steering control module comprises: left steering command reception submodule, touches instruction for the left steering receiving user's finger sliding left by the touch screen of mobile control terminal; Left steering controls submodule, controls video acquisition device turn left for the left steering touch instruction received according to described left steering command reception module;
Described right turn control module comprises: right turn command reception submodule, touches instruction for the right turn receiving user's finger sliding to the right by the touch screen of mobile control terminal; Right turn controls submodule, controls video acquisition device turn right for the right turn touch instruction received according to described right turn command reception module;
Described lower rotation control module comprises: upper rotation command receives submodule, touches instruction for the upper rotation receiving user's finger upwards sliding by the touch screen of mobile control terminal; Upper rotation controls submodule, controls video acquisition device upwards rotate for the upper rotation touch instruction received according to described upper rotation command receiver module;
Described lower rotation control module comprises: lower rotation command receives submodule, touches instruction for receiving user's finger by the touch screen of mobile control terminal to the lower rotation of gliding; Lower rotation controls submodule, controls video acquisition device rotate for the lower rotation touch instruction received according to described lower rotation command receiver module.
3. as claimed in claim 1 or 2 for the video auxiliary system of industry mechanical arm Long-distance Control, it is characterized in that, described mobile control terminal also comprises focus control block, described focus control block comprises: two-dimensional coordinate positioning acquisition submodule, for gathering the two-dimensional coordinate in the touch screen of user's finger contact terminal control terminal; Two-dimensional coordinate focus control submodule, for sending position of focusing facula instruction to video acquisition device according to the two-dimensional coordinate collected;
Described video acquisition device also comprises position of focusing facula control module, positions for the position of focusing facula instruction sent according to mobile control terminal and focuses on the respective two-dimensional coordinate position in current acquired image.
4., if claim is as claimed in claim 1 or 2 for the video auxiliary system of industry mechanical arm Long-distance Control, it is characterized in that:
Described mobile control terminal also comprises aligned bundle control module, and described aligned bundle control module comprises: two-dimensional coordinate positioning acquisition submodule, moves two-dimensional coordinate in the touch screen of control terminal for gathering user's finger contact; Aligned bundle emission control submodule, for sending aligned bundle firing order according to the two-dimensional coordinate collected;
Described video acquisition device also comprises: beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.
5. as claimed in claim 3 for the video auxiliary system of industry mechanical arm Long-distance Control, it is characterized in that, described mobile control terminal also comprises aligned bundle control module, sends aligned bundle firing order for sending position of focusing facula instruction at two-dimensional coordinate focus control block and focusing on successfully; Described video acquisition device also comprises beam emissions module, for according to the beam emissions instruction that receives by the position corresponding to beam emissions to specified two-dimensional coordinate.
6. as claimed in claim 1 for the video auxiliary system of industry mechanical arm Long-distance Control, it is characterized in that, described mobile control terminal also comprises mechanical arm unlatching control module and comprises, described mechanical arm is opened control module and is comprised: open command receives submodule, for being received the open command that user issues by the touch-screen of mobile control terminal; Mechanical arm is opened and is controlled submodule, controls signal to mechanical arm to control mechanical arm regular event for sending unlatching according to described open command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510462493.5A CN105159157B (en) | 2015-07-31 | 2015-07-31 | Video auxiliary system for industry mechanical arm remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510462493.5A CN105159157B (en) | 2015-07-31 | 2015-07-31 | Video auxiliary system for industry mechanical arm remote control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105159157A true CN105159157A (en) | 2015-12-16 |
| CN105159157B CN105159157B (en) | 2017-11-21 |
Family
ID=54800044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510462493.5A Active CN105159157B (en) | 2015-07-31 | 2015-07-31 | Video auxiliary system for industry mechanical arm remote control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105159157B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272483A (en) * | 2016-08-31 | 2017-01-04 | 江门市第职业高级中学 | A kind of high in the clouds controls mechanical hand |
| CN109822570A (en) * | 2019-01-31 | 2019-05-31 | 秒针信息技术有限公司 | The monitoring method and device of mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566552A (en) * | 2012-02-06 | 2012-07-11 | 重庆市鹏创道路材料有限公司 | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS |
| CN102789327A (en) * | 2012-08-07 | 2012-11-21 | 北京航空航天大学 | Method for controlling mobile robot on basis of hand signals |
| US20130056032A1 (en) * | 2011-09-07 | 2013-03-07 | Suuk Choe | Robot cleaner, and system and method for remotely controlling the same |
| CN203380892U (en) * | 2013-07-29 | 2014-01-08 | 上海德致伦电子科技有限公司 | Manipulator control system based on FPGA platform |
| CN104486543A (en) * | 2014-12-09 | 2015-04-01 | 北京时代沃林科技发展有限公司 | Equipment and method for controlling cloud deck camera by intelligent terminal in touch manner |
| CN104656653A (en) * | 2015-01-15 | 2015-05-27 | 长源动力（北京）科技有限公司 | Interactive system and method based on robot |
-
2015
- 2015-07-31 CN CN201510462493.5A patent/CN105159157B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130056032A1 (en) * | 2011-09-07 | 2013-03-07 | Suuk Choe | Robot cleaner, and system and method for remotely controlling the same |
| CN102566552A (en) * | 2012-02-06 | 2012-07-11 | 重庆市鹏创道路材料有限公司 | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS |
| CN102789327A (en) * | 2012-08-07 | 2012-11-21 | 北京航空航天大学 | Method for controlling mobile robot on basis of hand signals |
| CN203380892U (en) * | 2013-07-29 | 2014-01-08 | 上海德致伦电子科技有限公司 | Manipulator control system based on FPGA platform |
| CN104486543A (en) * | 2014-12-09 | 2015-04-01 | 北京时代沃林科技发展有限公司 | Equipment and method for controlling cloud deck camera by intelligent terminal in touch manner |
| CN104656653A (en) * | 2015-01-15 | 2015-05-27 | 长源动力（北京）科技有限公司 | Interactive system and method based on robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272483A (en) * | 2016-08-31 | 2017-01-04 | 江门市第职业高级中学 | A kind of high in the clouds controls mechanical hand |
| CN109822570A (en) * | 2019-01-31 | 2019-05-31 | 秒针信息技术有限公司 | The monitoring method and device of mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105159157B (en) | 2017-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103395694B (en) | Integral monitoring system for tower crane | |
| CN101917598B (en) | Monitoring system for displaying real scene and implementation method thereof | |
| JP2003514294A (en) | System and method for marking objects and associating information with selected technical components | |
| CN203422017U (en) | Artillery integrated management system detector based on CAN bus | |
| CN103873959A (en) | Control method and electronic device | |
| US20220276701A1 (en) | Remote work support system | |
| CN110977981A (en) | Robot virtual reality synchronization system and synchronization method | |
| CN105159157A (en) | Video-assisted system for industrial manipulator remote control | |
| CN103149935A (en) | Remote wireless touch screen control system of mountain farming robot | |
| CN201509277U (en) | Video intelligent tracking navigation system | |
| CN112894223A (en) | Automatic welding robot of diversified type that turns to | |
| CN109167975A (en) | A kind of split screen control system | |
| CN111531521A (en) | A virtual reality inspection robot for transformer substation | |
| CN107671838B (en) | Robot teaching recording system, teaching process steps and algorithm flow thereof | |
| CN103024344A (en) | Automatic PTZ (Pan/Tilt/Zoom) target tracking method based on particle filter | |
| CN110708510A (en) | Remote viewing method for power equipment | |
| CN202433493U (en) | Circuit board test fixture | |
| US20210179213A1 (en) | Dismantling system | |
| CN110854998A (en) | Unattended inspection system of substation | |
| CN217157141U (en) | Visual automatic detection system | |
| CN202707114U (en) | Visible support control system and coal extraction support with the same | |
| CN115396417A (en) | Laser processing equipment interconnection system and control method thereof | |
| CN105511467A (en) | Video-based robot head motion control method and device | |
| CN114401259A (en) | Video acquisition system, operation machine and excavator | |
| CN212875983U (en) | AR-based water treatment maintenance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |