CN105159157B - Video auxiliary system for industry mechanical arm remote control - Google Patents
Video auxiliary system for industry mechanical arm remote control Download PDFInfo
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- CN105159157B CN105159157B CN201510462493.5A CN201510462493A CN105159157B CN 105159157 B CN105159157 B CN 105159157B CN 201510462493 A CN201510462493 A CN 201510462493A CN 105159157 B CN105159157 B CN 105159157B
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- manipulator
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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
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- 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
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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
- 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 kind of video auxiliary system for industry mechanical arm remote control, including video acquisition device and mobile control terminal；Video acquisition device is located at the top of manipulator mounting seat, including image real-time acquisition module, for real-time collection machinery hand image；Judge module, for being judged according to the power module of image combination manipulator；First communication module, terminal is controlled to mobile for when manipulator be not operating normally in the case of energization, sending information warning and the image information gathered in real time；Mobile control terminal includes the second communication module, for receiving information warning and real-time image information；Course changing control module, for controlling video acquisition device accordingly to be rotated；Manipulator stops control module, stops control signal to manipulator for sending；Video auxiliary system also includes the 3rd communication module being located on manipulator and manipulator control module, manipulator control module are stopped according to the stopping control signal control machinery hand received.
Description
Technical field
The present invention relates to the video auxiliary system for industry mechanical arm remote control.
Background technology
Manipulator can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument.The volume of industry mechanical arm itself is larger, part is more, internal control circuit, executing agency etc.
It is complex.And the staff in workshop normally only learns how to operate industry mechanical arm, but for the easy appearance of manipulator
Failure and unfamiliar.If industry mechanical arm breaks down, shop personnel are likely to not attached in the manipulator of the failure
Closely, it is impossible to find that failure occurs in manipulator immediately, and even if being found that manipulator breaks down, but the work people in workshop
Member can not be overhauled, and the engineer of specialty is seldom directly in workshop, in this way, being difficult instant when manipulator breaks down
Repaired, cause maintenance time increase, increase human cost, maintenance difficult, greatly reduce production efficiency.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：Providing one kind can be instant
Know manipulator whether occur situation, facilitate engineer remote guide field personnel to be overhauled, can be remotely to machinery
Hand is controlled, can be real-time, the comprehensive image on the spot for observing manipulator is used for industry mechanical arm remote control
Video auxiliary system.
In order to solve the above technical problems, the technical scheme that the present invention takes is：One kind is provided and is used for industry mechanical arm
The video auxiliary system of remote control, including video acquisition device and the mobile control terminal for communicating connection；
The video acquisition device be movably installed in the top of industry mechanical arm mounting seat and can carry out it is left and right, under, under
Rotate, the video is included using device：Image real-time acquisition module, the operating state image for real-time collection machinery hand；
Judge module, for being judged according to the power module of the image combination industry mechanical arm collected in real time, to judge machinery
Whether hand is not operating normally in the case of energization；First communication module, for judging to obtain manipulator when the judge module
When not being operating normally in the case of energization, send information warning and the image information gathered in real time and control terminal to mobile；
The mobile control terminal includes：Second communication module, the warning sent for receiving the video acquisition device
Information and real-time image information；Course changing control module, for controlling video acquisition device accordingly to be rotated, to control in real time
Image pickup scope；Manipulator stops control module, stops control signal extremely for sending manipulator according to the information warning received
Manipulator；
The video auxiliary system also includes the 3rd communication module and manipulator control module on manipulator, institute
The stopping control signal control machinery hand that manipulator control module is used to receive according to the 3rd communication module is stated to be stopped.
Further, the course changing control module is included for control video acquisition device to be left and right respectively, rotates up and down
Left steering control module, right turn control module, it is lower rotation control module, upper rotation control module；
The left steering control module includes：Left steering command reception submodule, for controlling touching for terminal by mobile
Touch screen and receive the left steering touching instruction that user's finger is slided to the left；Left steering control submodule, for according to the left steering
Left steering touching instruction that command reception module receives and control video acquisition device to turn left；
The right turn control module includes：Right turn command reception submodule, for controlling touching for terminal by mobile
Touch screen and receive the right turn touching instruction that user's finger is slided to the right；Right turn control submodule, for according to the right turn
Right turn touching instruction that command reception module receives and control video acquisition device to turn right；
The lower rotation control module includes：Upper rotation command receiving submodule, for controlling touching for terminal by mobile
Touch screen and receive the upper rotation touching instruction that user's finger slides up；Upper rotation control submodule, for according to the upper rotation
Upper rotation touching instruction that command reception module receives and control video acquisition device to be rotated up；
The lower rotation control module includes：Lower rotation command receiving submodule, for controlling touching for terminal by mobile
Touch screen and receive lower rotation touching instruction of the user's finger to downslide；Lower rotation control submodule, for according to the lower rotation
Lower rotation touching instruction that command reception module receives and control video acquisition device to rotate down.
Further, the mobile control terminal also includes focus control block, and the focus control block includes：Two dimension
Coordinate setting gathers submodule, for gathering the two-dimensional coordinate touched in screen of user's finger contact terminals control terminal；Two
Dimension coordinate focus control submodule, for sending positioning focus command according to the two-dimensional coordinate collected to video acquisition device；
The video acquisition device also includes positioning focus control block, for the positioning sent according to mobile control terminal
Focus command is positioned and focused on to the respective two-dimensional coordinate position in current acquired image.
Further, the mobile control terminal also includes positioning Beam Control module, the positioning Beam Control module
Including：Two-dimensional coordinate positioning acquisition submodule, for gathering touch in screen the two of user's finger contact movement control terminal
Dimension coordinate；Beam emissions control submodule is positioned, for sending positioning beam emissions instruction according to the two-dimensional coordinate collected；
The video acquisition device also includes：Beam emissions module, for being instructed according to the beam emissions received by light
Beam is launched to the position corresponding to specified two-dimensional coordinate.
Further, the mobile control terminal also includes positioning Beam Control module, is controlled for being focused in two-dimensional coordinate
Molding block sends positioning focus command and positioning beam emissions instruction is sent after focusing on successfully；The video acquisition device also wraps
Beam emissions module is included, for being instructed according to the beam emissions received by corresponding to beam emissions to specified two-dimensional coordinate
Position.
Further, the mobile control terminal, which also includes manipulator Open control module, includes, and the manipulator is opened
Control module includes：Open command receiving submodule, opened for what is issued by the touch-screen reception user of mobile control terminal
Open instruction；Manipulator opens control submodule, for sending opening control signal to manipulator according to the open command to control
Manipulator regular event processed.
The video auxiliary system for industry mechanical arm remote control of the present invention, video acquisition device are monitoring machinery
After hand breaks down, you can the mobile control terminal of notice, the user of mobile control terminal can learn manipulator in workshop immediately
Working condition.After user learns that manipulator breaks down in workshop, directly manipulator power-off can be sent in mobile control terminal
Or stopping action command, manipulator is powered off or is stopped, and the time for reserving abundance supplies user and shop personnel
Contact, shop personnel are instructed to carry out maintenance and inspection.Therefore, user need not arrive workshop and manipulator can be carried out remotely immediately
Guide maintenance, robotic failure can be found immediately, avoid the generation of the problem of bigger or security incident, save dimension
Repair the time, reduce maintenance cost, improve operating efficiency.When user is linked up by voice and the staff at scene
Or when instructing the field personnel to be repaired, can be direct when user talks about some position or manipulator part
The position in image shown on screen or manipulator part are clicked on, then issues a beam emissions instruction, video acquisition
After device receives information, light source is opened immediately, sends position or machinery that the light velocity corresponds to two-dimensional coordinate in monitoring on the spot
Hand unit, light beam can be pin-pointed to part or position specified by user, and therefore, field personnel is signified by light beam
To position or part, clearer can understand the content that user is said, facilitate the communication between them, further plus
Fast maintenance speed, increase operating efficiency.When being linked up with field personnel, the specified of two-dimensional coordinate, beam emissions can be passed through
The mode of correspondence position, to assist the content expressed by user, make field personnel be understood more readily from user said it is interior
Hold, add communication effectiveness, reduce maintenance time, saved human cost, improved operating efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the block diagram for the video auxiliary system first embodiment that the present invention is used for industry mechanical arm remote control.
Fig. 2 is the block diagram for the video auxiliary system second embodiment that the present invention is used for industry mechanical arm remote control.
Fig. 3 is the block diagram for the video auxiliary system 3rd embodiment that the present invention is used for industry mechanical arm remote control.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 is referred to, Fig. 1 is the video auxiliary system first embodiment that the present invention is used for industry mechanical arm remote control
Block diagram.The video auxiliary system for industry mechanical arm remote control of the present embodiment includes：Video acquisition device and and its
Communicate the mobile control terminal of connection.Wherein：
The video acquisition device includes but is not limited to monitoring camera, monopod video camera etc., and all have camera function
Electronic equipment.The mobile control terminal includes but is not limited to：Mobile phone, tablet personal computer, removable computer, PDA（Personal
Digital Assistant, personal digital assistant）Etc. all have supercomputing and can installation system software and application it is soft
The electronic computer device of part, it can carry out numerical computations, logical calculated can be carried out again, also with store-memory function.It is
It can be run according to program, automatic, the modernization intelligent electronic device of high speed processing mass data.
In the present embodiment, the industry mechanical arm is manipulator of injection machine, and it includes pedestal, the fixation being fixed on ground
The manipulator mounting seat and manipulator body stood on pedestal, in addition to laterally extended forward by the top of mounting seat and supply machine
It is the movable track of the forward and backward movement of tool hand, laterally overall to side extension, with laterally movable track from mounting seat top
It is L-shape and the confession left and right movement of manipulator to move left and right track.The video acquisition device is arranged on the top of mounting seat, tool
Body may be mounted at the outer end of movable track or installed in the outer end for moving left and right track.
The video acquisition device be movably installed in the top of industry mechanical arm mounting seat and can carry out it is left and right, under, under
Rotate, the video is included using device：Image real-time acquisition module, the operating state image for real-time collection machinery hand；
Judge module, for being judged according to the power module of the image combination industry mechanical arm collected in real time, to judge machinery
Whether hand is not operating normally in the case of energization；First communication module, for judging to obtain manipulator when the judge module
When not being operating normally in the case of energization, send information warning and the image information gathered in real time and control terminal to mobile.
Wherein：
The video acquisition device can be with the power module of manipulator, each actuating motor and manipulator of manipulator
Internal circuit electrically connects, to be supplied to judge module accurately to judge information.Above-mentioned manipulator be not operating normally including
But it is not limited to：Manipulator in the case of energization attonity, compared to the slow motion for regular event, fast motion etc..Typically
For, in energization under normal circumstances, one or more of which actuating motor meeting driving manipulator is operated manipulator,
Internal circuit is in normal operating conditions, and when manipulator breaks down, it may be possible to actuating motor breaks down, and causes machine
Tool hand is not operating normally, then the judge module of this video acquisition device then judges that manipulator hinders and is not operating normally for some reason
Afterwards, be transferred to the first communication module, first communication module be then used for when judge module judge to obtain when not being operating normally,
Send information warning and the image information gathered in real time and control terminal to mobile, the user of mobile control terminal is receiving this letter
After breath, you can open the situation on the spot where realtime graphic observation manipulator.
In the present embodiment, when judge module judges to obtain manipulator regular event, first communication module can pass
Pass real-time image information and control terminal to mobile, to be moved easily the observation manipulator that the user of control terminal can follow one's inclinations at any time
The situation on the spot at place；Certainly, first communication module also can use non-master flowing mode to transmit real-time image information, such as root
The observation sent according to mobile control terminal instructs and sends real-time image information etc., in this way, the first communication module can not
With moiling always so that its service life is longer.
The mobile control terminal includes：Second communication module, the warning sent for receiving the video acquisition device
Information and real-time image information；Course changing control module, for controlling video acquisition device accordingly to be rotated, to control in real time
Image pickup scope；Manipulator stops control module, stops control signal extremely for sending manipulator according to the information warning received
Manipulator；The video auxiliary system also includes the 3rd communication module and manipulator control module on manipulator, institute
The stopping control signal control machinery hand that manipulator control module is used to receive according to the 3rd communication module is stated to be stopped.Institute
Stating manipulator has a controller, such as PLC.Wherein：
The course changing control module includes being used to control the left steering control that video acquisition device is left and right, rotates up and down respectively
Molding block, right turn control module, lower rotation control module, upper rotation control module.
The left steering control module includes：Left steering command reception submodule, for controlling touching for terminal by mobile
Touch screen and receive the left steering touching instruction that user's finger is slided to the left；Left steering control submodule, for according to the left steering
Left steering touching instruction that command reception module receives and control video acquisition device to turn left；
The right turn control module includes：Right turn command reception submodule, for controlling touching for terminal by mobile
Touch screen and receive the right turn touching instruction that user's finger is slided to the right；Right turn control submodule, for according to the right turn
Right turn touching instruction that command reception module receives and control video acquisition device to turn right；
The lower rotation control module includes：Upper rotation command receiving submodule, for controlling touching for terminal by mobile
Touch screen and receive the upper rotation touching instruction that user's finger slides up；Upper rotation control submodule, for according to the upper rotation
Upper rotation touching instruction that command reception module receives and control video acquisition device to be rotated up；
The lower rotation control module includes：Lower rotation command receiving submodule, for controlling touching for terminal by mobile
Touch screen and receive lower rotation touching instruction of the user's finger to downslide；Lower rotation control submodule, for according to the lower rotation
Lower rotation touching instruction that command reception module receives and control video acquisition device to rotate down.
In the present embodiment, between first communication module and the second communication module, the second communication module and the 3rd communication
Communication between module can be WIFI, GPRS, wide area network, Metropolitan Area Network (MAN), LAN, bluetooth, infrared etc. existing any one
The mechanics of communication that kind is wirelessly transferred with wireless telecommunications, data.
Specifically combine example：Video acquisition module is camera, is built-in with control module, and camera is movably arranged on front and rear
The outer end of moving track is simultaneously rotated by upper and lower, left and right, to collect different image pickup scopes.It is mobile control terminal for
Android system or apple IOS system mobile phones, are provided with the APP for controlling camera on mobile phone, the video in this example
Harvester also includes server, for vouchsafing user right or administrator right, holds the cellphone subscriber with above-mentioned APP
Need after opening APP, select registering account, administered manipulator camera is associated after succeeding in registration.In this example, pass through
The device id of user name and camera installed in plant machinery on hand is associated, so that the user after registration can pass through
Camera is observed, controls corresponding manipulator at any time.User needs to log into after APP, clicks on each in the APP software pages
Function button is controlled to camera and manipulator, such as " out of service " button, after user clicks on, mobile control terminal
Signal out of service is sent to manipulator, after manipulator receives the signal by the 3rd communication module, internal controller control
Manipulator body is stopped, and directly power module can also be controlled to power off.In another example " monitoring in real time " button, user click on it
Afterwards, mobile control terminal issues monitoring instruction in real time to camera, a camera and receives the letter by the second communication module
After number, the image recorded in real time is transferred to mobile control terminal by the second communication module, user can be on APP related boundary
Observe the image that camera gathers in real time in face.
In this example, after the power module of camera and manipulator, each motor, the internal circuit of manipulator electrically connect,
It can recognize whether manipulator is operating normally or acts in the case of energization in real time, when the judge module in camera is sentenced
When disconnected manipulator is not operating normally or acted, warning or prompt message and real-time photography are sent by the second communication module at once
Image information after mobile control terminal receives the signal, is prompted user's manipulator to break down, used immediately to mobile control terminal
After prompt message is seen at family, real-time image information is opened immediately and is observed, if user thinks what image pickup scope was not intended to
Scope, can also be by left and right, upper and lower slip mobile phone screen to send camera rotation command, and it is laggard that camera receives instruction
Row is corresponding to be rotated, so that user observes the image of optimal viewing angle., can be with as user it was observed that after the image of optimal viewing angle
Direct-dial telephone notifies the staff in workshop, instructs him to carry out field maintenance, in this way, for some simple failure problems, uses
Family need not arrive scene in person, and the staff at scene can be instructed to be checked, repaired in this way.Improve work effect
Rate, while ensure when running into same problem from now on, field personnel, which can not have to guidance, voluntarily to be examined to manipulator
Look into, repair.
Embodiment of the present invention, video acquisition device is after monitoring that manipulator breaks down, you can the mobile control of notice
Terminal, the user of mobile control terminal can learn the working condition of manipulator in workshop immediately.User learns manipulator in workshop
After failure, manipulator power-off can be directly sent in mobile control terminal or stop action command, manipulator is broken
Electricity is stopped, and the time for reserving abundance contacts for user with shop personnel, instructs shop personnel to be checked
Maintenance, the video auxiliary system for industry mechanical arm remote control of the present embodiment, user need not arrive workshop can be immediately right
Manipulator carries out remote guide maintenance, and robotic failure can be found immediately, avoid the problem of bigger or security incident
Generation, saved maintenance time, reduced maintenance cost, improved operating efficiency.
Fig. 2 is referred to, Fig. 2 is the video auxiliary system second embodiment that the present invention is used for industry mechanical arm remote control
Block diagram.The present embodiment includes video acquisition device and communicates the mobile control terminal of connection.The video of the present embodiment is adopted
Acquisition means lead to including image real-time acquisition module same or analogous with first embodiment structure or function, judge module, first
Interrogate module；The mobile control terminal of the present embodiment includes the same or analogous with first embodiment structure or function second communication mould
Block, course changing control module, manipulator stop control module；Also include and first embodiment structure or function is same or analogous sets
In the 3rd communication module and manipulator control module on manipulator.The present embodiment movement control terminal optionally includes
With the same or analogous left steering control module of first embodiment structure or function includes, right turn control module includes, above turns
Dynamic control module includes, lower rotation control module.
The mobile control terminal of the present embodiment also includes positioning Beam Control module.The positioning Beam Control module bag
Include：Two-dimensional coordinate positioning acquisition submodule, for gathering the two dimension touched in screen of user's finger contact movement control terminal
Coordinate；Beam emissions control submodule is positioned, for sending positioning beam emissions instruction according to the two-dimensional coordinate collected.Specifically
Ground：
In the present embodiment, when user in realtime graphic is observed and instructs the work of field personnel's maintenance and inspection
Cheng Zhong, user contact some component locations into the image shown by mobile terminal（I.e. above-mentioned contact is into touch screen
Two-dimensional coordinate）, and beam emissions instruction is issued, mobile control terminal i.e. transmission beam emissions, which are instructed to video acquisition, to be filled
Put, with control video acquisition device transmitting light beam into the scope that is imaged with commanded two-dimensional coordinate corresponding to position.
The video acquisition device also includes：Beam emissions module, for being instructed according to the beam emissions received by light
Beam is launched to the position corresponding to specified two-dimensional coordinate.So, it is possible to achieve user gives directions machinery in mobile control terminal
The a certain part of hand and when issuing beam emissions instruction, video acquisition device can be according to the instruction issue light beam to live machine
Part corresponding to tool palmistry.
In the present embodiment, the mobile control terminal, which also includes manipulator Open control module, to be included, and the manipulator is opened
Opening control module includes：Open command receiving submodule, for receiving what user issued by the mobile touch-screen for controlling terminal
Open command；Manipulator open control submodule, for according to the open command send opening control signal to manipulator with
Control machinery hand is operating normally.In this way, after user guided Field Force maintenance finishes, can be directly by user side's control machinery
Hand is powered or control machinery hand regular event, and when user's not timing is overhauled to manipulator, user can directly pass through movement
Control terminal sends stop signal, open signal, facilitates the control of user.
It is mobile to control record in terminal to have control terminal screen two-dimensional coordinate and video acquisition device place in the present embodiment
The corresponding relation of 3 d space coordinate.In this way, when user gives directions some two-dimensional coordinate, video acquisition device can be very smart
Accurate navigates to corresponding position.
Compared with first embodiment, its advantage is the embodiment of the present invention：When user is passing through voice and the work at scene
When being linked up or instructed the field personnel repaired as personnel, user talks about some position or robot arm
During part, the position in image shown on screen or manipulator part can be clicked directly on, then issues a beam emissions
Instruction, after video acquisition device receives information, opens light source immediately, sends the light velocity and corresponds to two-dimensional coordinate in monitoring on the spot
Position or manipulator part, light beam can be pin-pointed to part or position specified by user, therefore, field personnel
By the position pointed by light beam or part, the content that user is said clearer can be understood, facilitate between them
Link up, further speed up maintenance speed, increase operating efficiency.
Fig. 3 is referred to, Fig. 3 is the video auxiliary system 3rd embodiment that the present invention is used for industry mechanical arm remote control
Block diagram.The present embodiment includes video acquisition device and communicates the mobile control terminal of connection.The video of the present embodiment is adopted
Acquisition means lead to including image real-time acquisition module same or analogous with first embodiment structure or function, judge module, first
Interrogate module；The mobile control terminal of the present embodiment includes the same or analogous with first embodiment structure or function second communication mould
Block, course changing control module, manipulator stop control module；Also include and first embodiment structure or function is same or analogous sets
In the 3rd communication module and manipulator control module on manipulator.The present embodiment movement control terminal optionally includes
With the same or analogous left steering control module of first embodiment structure or function includes, right turn control module includes, above turns
Dynamic control module includes, lower rotation control module.
The mobile control terminal of the present embodiment also includes focus control block, and the focus control block includes：Two dimension is sat
Positioning acquisition submodule is marked, for gathering the two-dimensional coordinate touched in screen of user's finger contact terminals control terminal；Two dimension
Coordinate focus control submodule, for sending positioning focus command according to the two-dimensional coordinate collected to video acquisition device；Institute
Stating video acquisition device also includes positioning focus control block, for the positioning focus command pair sent according to mobile control terminal
Respective two-dimensional coordinate position in current acquired image and positioned and focused on.
The mobile control terminal also includes positioning Beam Control module, for being sent in two-dimensional coordinate focus control block
Position focus command and positioning beam emissions instruction is sent after focusing on successfully；The video acquisition device also includes beam emissions
Module, for the position according to corresponding to instructing beam emissions to specified two-dimensional coordinate the beam emissions that receive.
The embodiment of the present invention, when the emphasis of user is in a certain part, and the part not enough understands or needs amplification,
Need to control video acquisition device the position is focused, in this way, can make user more clearly see relevant position or
Person's part.The mobile control terminal of the present embodiment also includes image amplification, reduces control module, when user wants to amplify a certain part
Image when, can first focus on the part, then pass through mobile control terminal and the function command button such as click on amplification, reduce
Issue an amplification, reduce instruction to video acquisition device, video acquisition device is according to dependent instruction zoom, to meet user's
Demand.After being focused on successfully when positioning, at user option click light velocity control module instructs to assign beam emissions, makes to regard
Some position or part that frequency harvester transmitting light beam is specified to user.
To sum up, video auxiliary system of the invention can make the state of each manipulator of user's remote real-time monitoring, if
One or more mechanical hand therein breaks down, client user can remote guide field personnel simply tieed up
Repair, mobile control terminal user can carry out upper and lower, left and right on the touch screen of mobile control terminal and slide to manipulate shooting
Device is moved accordingly, makes image pickup scope wider.
When being linked up with field personnel, can be come by way of the specified of two-dimensional coordinate, beam emissions correspondence position
Assist user expressed by content, field personnel is understood more readily from the content that user is said, add communication effectiveness,
Reduce maintenance time, saved human cost, improved operating efficiency.
Embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize the present invention
The equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other related technologies
Field, it is included within the scope of the present invention.
Claims (5)
1. a kind of video auxiliary system for industry mechanical arm remote control, including video acquisition device and the company of communicating
The mobile control terminal connect；
The video acquisition device be movably installed in the top of industry mechanical arm mounting seat and can carry out it is left and right, under, lower turn
Dynamic, the video is included using device：Image real-time acquisition module, the operating state image for real-time collection machinery hand；Sentence
Disconnected module, for being judged according to the power module of the image combination industry mechanical arm collected in real time, to judge manipulator
Whether it is not operating normally in the case of energization；First communication module, for existing when the judge module judges to obtain manipulator
When not being operating normally in the case of energization, send information warning and the image information gathered in real time and control terminal to mobile；
The mobile control terminal includes：Second communication module, the information warning sent for receiving the video acquisition device
And real-time image information；Course changing control module, for controlling video acquisition device accordingly to be rotated, imaged with real-time control
Scope；Manipulator stops control module, stops control signal to machinery for sending manipulator according to the information warning received
Hand；
The mobile control terminal also includes positioning Beam Control module, and the positioning Beam Control module includes：Two-dimensional coordinate
Positioning acquisition submodule, for gathering the two-dimensional coordinate touched in screen of user's finger contact movement control terminal；Position light
Beam emission control submodule, for sending positioning beam emissions instruction according to the two-dimensional coordinate collected；
The video acquisition device also includes：Beam emissions module, light beam is sent out for being instructed according to the beam emissions received
It is incident upon the position corresponding to specified two-dimensional coordinate
The video auxiliary system also includes the 3rd communication module and manipulator control module on manipulator, the machine
The stopping control signal control machinery hand that tool hand control module is used to be received according to the 3rd communication module is stopped.
2. it is used for the video auxiliary system of industry mechanical arm remote control as claimed in claim 1, it is characterised in that：Described turn
Include being used to control left steering control module, the right turn that video acquisition device is left and right, rotates up and down respectively to control module
Control module, lower rotation control module, upper rotation control module；
The left steering control module includes：Left steering command reception submodule, for passing through the mobile touch-screen for controlling terminal
Curtain receives the left steering touching instruction that user's finger is slided to the left；Left steering control submodule, for being instructed according to the left steering
Left steering touching instruction that receiving module receives and control video acquisition device to turn left；
The right turn control module includes：Right turn command reception submodule, for passing through the mobile touch-screen for controlling terminal
Curtain receives the right turn touching instruction that user's finger is slided to the right；Right turn control submodule, for being instructed according to the right turn
Right turn touching instruction that receiving module receives and control video acquisition device to turn right；
The lower rotation control module includes：Upper rotation command receiving submodule, for passing through the mobile touch-screen for controlling terminal
Curtain receives the upper rotation touching instruction that user's finger slides up；Upper rotation control submodule, for according to the upper rotation command
Upper rotation touching instruction that receiving module receives and control video acquisition device to be rotated up；
The lower rotation control module includes：Lower rotation command receiving submodule, for passing through the mobile touch-screen for controlling terminal
Curtain receives lower rotation touching instruction of the user's finger to downslide；Lower rotation control submodule, for according to the lower rotation command
Lower rotation touching instruction that receiving module receives and control video acquisition device to rotate down.
3. it is used for the video auxiliary system of industry mechanical arm remote control as claimed in claim 1 or 2, it is characterised in that institute
Stating mobile control terminal also includes focus control block, and the focus control block includes：Two-dimensional coordinate positioning acquisition submodule,
For gathering the two-dimensional coordinate touched in screen of user's finger contact terminals control terminal；Two-dimensional coordinate focus control submodule
Block, for sending positioning focus command according to the two-dimensional coordinate collected to video acquisition device；
The video acquisition device also includes positioning focus control block, and the positioning for being sent according to mobile control terminal focuses on
Instruction is positioned and focused on to the respective two-dimensional coordinate position in current acquired image.
4. it is used for the video auxiliary system of industry mechanical arm remote control as claimed in claim 3, it is characterised in that the shifting
Dynamic control terminal also includes positioning Beam Control module, for sending positioning focus command simultaneously in two-dimensional coordinate focus control block
And positioning beam emissions instruction is sent after focusing on successfully；The video acquisition device also includes beam emissions module, for basis
The beam emissions received instruct the position corresponding to by beam emissions to specified two-dimensional coordinate.
5. it is used for the video auxiliary system of industry mechanical arm remote control as claimed in claim 1, it is characterised in that the shifting
Dynamic control terminal, which also includes manipulator Open control module, to be included, and the manipulator Open control module includes：Open command connects
Submodule is received, for the open command issued by the touch-screen reception user of mobile control terminal；Manipulator opens control
Module, it is operating normally for sending opening control signal according to the open command to manipulator with control machinery hand.
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| CN201510462493.5A CN105159157B (en) | 2015-07-31 | 2015-07-31 | Video auxiliary system for industry mechanical arm remote control |
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| CN105159157A CN105159157A (en) | 2015-12-16 |
| CN105159157B true CN105159157B (en) | 2017-11-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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