CN106335044B - The mechanical arm console and method that the full-time pattern of multi-track is combined with local media - Google Patents
The mechanical arm console and method that the full-time pattern of multi-track is combined with local media Download PDFInfo
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- CN106335044B CN106335044B CN201610900198.8A CN201610900198A CN106335044B CN 106335044 B CN106335044 B CN 106335044B CN 201610900198 A CN201610900198 A CN 201610900198A CN 106335044 B CN106335044 B CN 106335044B
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- mechanical arm
- scape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The mechanical arm console and method that the full-time pattern of multi-track is combined with local media, in this method:OPC modules are called from more rail playback modules starts track scape, geo-stationary orbit scape, speed track scape, robot track scape, order track scape and local media scape, and timing is carried out as starting point using the timing code that outside periodically inputs, when timing reaches duration as defined in the full-time pattern of more rail playback module settings, by the startup track scape of calling, geo-stationary orbit scape, speed track scape, order track scape and local media scape are sent to the PLC device for each mechanical arm that robot track scape is identified by opc server, so that the PLC device of each mechanical arm is to start track scape, geo-stationary orbit scape, speed track scape and order track scape are according to control respectively to corresponding mechanical arm, and it drives and local media scape respectively is played simultaneously to corresponding mechanical arm.Centralized control can be carried out to a fairly large number of mechanical arm, realize the synchronous control of local media and mechanical arm.
Description
Technical field
It is combined with local media the present invention relates to performance integration control technology field more particularly to the full-time pattern of multi-track
Mechanical arm console and method.
Background technology
Currently, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or
Spatially the time-varying of pose (position and posture) requires to be moved tool, to complete a certain industrial job requirements.
In order to give stage performance, display and demonstration market to export good service, mechanical arm is gradually introduced stage performance and display and demonstration
In market.In practice, it has been found that as the mechanical arm being introduced into stage performance, display and demonstration market is more and more, how to drawing
Enter to a fairly large number of mechanical arm in stage performance, display and demonstration market and carry out centralized control, to improve to being introduced to stage
Performance, a fairly large number of mechanical arm in display and demonstration market control efficiency, and how further to realize local media
With the synchronous control of mechanical arm, so as to be stage performance, display and demonstration market output preferably service, be stage performance with
The technical barrier that display and demonstration market in urgent need solves.
Invention content
The mechanical arm console combined with local media the embodiment of the invention discloses a kind of full-time pattern of multi-track and side
Method effectively can carry out centralized control to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, with
Improve the control efficiency to being introduced to a fairly large number of mechanical arm in stage performance, display and demonstration market;It can also realize this
The synchronous control of ground media and mechanical arm, so as to be stage performance, display and demonstration market output preferably service.
First aspect of the embodiment of the present invention discloses a kind of mechanical arm that the full-time pattern of multi-track is combined with local media control
Method, including:
More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are in advance on starting track
It generates for carrying out the global startup track scape for controlling all mechanical arms and starting, is generated on geo-stationary orbit for carrying out global control
The geo-stationary orbit scape that all mechanical arms synchronize is made, is generated on speed track for carrying out global all mechanical arm speed of control
Speed track scape generates the robot track scape for identifying each mechanical arm in robot track, raw on order track
At the order track scape for being controlled mechanical arm, and utilizes and pass through local media editor external interface from local media
The local media material obtained in host generates local media scape on local media track;
OPC modules called from more rail playback modules by function interface the startup track scape, the geo-stationary orbit scape,
The speed track scape, the robot track scape, the order track scape and the local media scape, and with external week
The timing code of phase property input is that starting point carries out timing, and reaches the full-time pattern regulation of more rail playback module settings in timing
Duration when, by the startup track scape of calling, the geo-stationary orbit scape, the speed track scape, the order track scape
And the local media scape is sent to each mechanical arm that the robot track scape is identified by opc server
PLC device, so that the PLC device of each mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed rail
Road scape and the order track scape are that foundation controls respectively to corresponding mechanical arm, and drives respectively same to corresponding mechanical arm
When play the local media scape.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes:
The OPC modules detection user is directed to the operation that touches of the corresponding monitoring box of any one mechanical arm, and described in response
The robot detail parameters that operation monitors any one mechanical arm by the opc server are touched, the robot is detailed
Parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time,
In:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle
To the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation serviced by the OPC
Before the robot detail parameters of device monitoring any one mechanical arm, the method further includes:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described mechanical arm of the corresponding template fingerprint feature of rule is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one mechanical arm by the opc server.
As an alternative embodiment, in first aspect of the embodiment of the present invention, fingerprint minutiae phase is being judged
After being more than predetermined threshold value like degree, and touches described in response operation and pass through any one described machine of opc server monitoring
Before the robot detail parameters of tool arm, the method further includes:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the step of operation monitors the robot detail parameters of any one mechanical arm by the opc server.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes:
The OPC modules detection user instructs for the global monitoring of all mechanical arms input, and responds the global prison
Control instruction monitors that the robot global parameter of all mechanical arms, the robot global parameter include by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle
After the global monitoring instruction of all mechanical arms input, and the response global monitoring instruction passes through the opc server
Before the robot global parameter for monitoring all mechanical arms, the method further includes:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
As an alternative embodiment, in first aspect of the embodiment of the present invention, OPC modules by function interface from
The startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track are called in more rail playback modules
Before scape, the order track scape and the local media scape, the method further includes:
The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and is responded
The edit instruction is to track scape into edlin, wherein editor includes that binding, unbundlings, left-justify, isometric, mouse, region are selected
It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein:
1) it binds:Together by the binding of multiple scapes, the scape of binding as a whole, executes including mobile, deletion
It comes into force simultaneously when operation;
2) it unbinds:Two scapes are unbinding;
3) left-justify:Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify;
4) isometric:The scape chosen is carried out isometric behaviour by the multiple scapes for choosing same type using the last one scape as target
Make;
5) mouse:When selecting other functions, to make other disablers, mouse state need to be switched to;
6) regional choice:Regional frame chooses corresponding track scape;
7) it shields:Shielding is mutually done something for the occasion, its failure is made;
8) it deletes:Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape;
9) it replicates:The scape to be replicated is chosen, is replicated;
10) it pastes:The scape replicated is pasted;
11) it cancels:By current operation revocation to a upper mode of operation;
12) restore:Current operation is restored to next mode of operation;
13) it marks:Corresponding label is done at the time of on a timeline;
14) it removes:All labels on checkout time axis;
15) upper one:Jump to a upper mark position for time shaft;
16) next:Jump to next mark position on time shaft;
17) it is arranged:It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to make
Program number.
Second aspect of the embodiment of the present invention discloses a kind of mechanical arm that the full-time pattern of multi-track is combined with local media control
Platform, including:
OPC modules, opc server and more rail playback modules, wherein the OPC modules by OPC agreements with it is described
Opc server establishes data communication connection, and the opc server establishes data by the PLC device of network and each mechanical arm
Communication connection;The OPC modules are established data communication with more rail playback modules by function interface and are connect;More rails return
Amplification module is established data communication with local media host by local media editor external interface and is connect;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting in advance
It is generated on track for carrying out the global startup track scape for controlling all mechanical arms and starting, is generated on geo-stationary orbit for carrying out
The overall situation controls the geo-stationary orbit scape that all mechanical arms synchronize, and is generated on speed track and controls all mechanical arms for carrying out the overall situation
The speed track scape of speed generates the robot track scape for identifying each mechanical arm, in order rail in robot track
The order track scape for being controlled mechanical arm is generated on road, and is utilized through local media editor external interface from originally
The local media material obtained in ground media host generates local media scape on local media track;
The OPC modules, for the track by calling the multiple track pre-generatmg from more rail playback modules
Scape, and timing is carried out as starting point using the timing code that outside periodically inputs, and reach more rail playback modules in timing and set
As defined in the full-time pattern set when duration, the track scape of the multiple track pre-generatmg of calling is passed through into the opc server
It is sent to the PLC device of each mechanical arm, so that the PLC device of each mechanical arm is according to the pre- life of the multiple track
At track scape respectively corresponding mechanical arm is controlled.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to touch operation of the detection user for the corresponding monitoring box of any one mechanical arm, and ring
Answer the robot detail parameters touched operation and monitor any one mechanical arm by the opc server, the machine
People's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation
Between, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to detection user touching after operation for the corresponding monitoring box of any one mechanical arm,
And response described in touch operation by the opc server monitoring described in any one mechanical arm robot detail parameters it
Before, execute following operation:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described mechanical arm of the corresponding template fingerprint feature of rule is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And before robot detail parameters of the operation by opc server monitoring any one mechanical arm, also execute following behaviour
Make:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the robot detail parameters that operation monitors any one mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and described in response
Global monitoring instructs the robot global parameter that all mechanical arms are monitored by the opc server, the robot global ginseng
Number includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
After the OPC modules detection user is for the global monitoring instruction of all mechanical arms input, and described in response
Before global monitoring instructs the robot global parameter for monitoring all mechanical arms by the opc server, be additionally operable to execution with
Lower operation:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
Compared with prior art, the embodiment of the present invention has following advantageous effect:
In the embodiment of the present invention, OPC modules can be called from more rail playback modules by function interface start track scape,
Geo-stationary orbit scape, speed track scape, robot track scape, order track scape and local media scape, further, OPC modules
Timing can be carried out by starting point of the timing code that outside periodically inputs, and reach the full-time of more rail playback module settings in timing
As defined in pattern when duration, by the startup track scape of calling, geo-stationary orbit scape, speed track scape, order track scape and local
Media scape is sent to the PLC device for each mechanical arm that robot track scape is identified by opc server, so that each machinery
The PLC device of arm is that foundation controls respectively to phase to start track scape, geo-stationary orbit scape, speed track scape and order track scape
The mechanical arm answered, and drive and local media scape respectively is played simultaneously to corresponding mechanical arm.Obviously, implement the embodiment of the present invention
In, can centralized control effectively be carried out to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, with
Improve the control efficiency to being introduced to a fairly large number of mechanical arm in stage performance, display and demonstration market;It can also realize this
The synchronous control of ground media and mechanical arm, so as to be stage performance, display and demonstration market output preferably service.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the mechanical arm controlling party that the full-time pattern of a kind of multi-track disclosed by the embodiments of the present invention is combined with local media
The flow diagram of method;
Fig. 2 is the mechanical arm console that the full-time pattern of a kind of multi-track disclosed by the embodiments of the present invention is combined with local media
Structural schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The mechanical arm console combined with local media the embodiment of the invention discloses a kind of full-time pattern of multi-track and side
Method effectively can carry out centralized control to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, with
Improve the control efficiency to being introduced to a fairly large number of mechanical arm in stage performance, display and demonstration market;It can also realize this
The synchronous control of ground media and mechanical arm, so as to be stage performance, display and demonstration market output preferably service.Below into
Row is described in detail in conjunction with attached drawing.
Embodiment one
Referring to Fig. 1, Fig. 1 is the machine that the full-time pattern of a kind of multi-track disclosed by the embodiments of the present invention is combined with local media
The flow diagram of tool arm control method.As shown in Figure 1, the Mechanical arm control method may comprise steps of:
101, OPC modules are established data communication with opc server by OPC agreements and are connect, opc server by network with
The PLC device of each mechanical arm establishes data communication connection, and OPC modules establish data by function interface and more rail playback modules
Communication connection, more rail playback modules are established data communication with local media host by local media editor external interface and are connect.
In the embodiment of the present invention, OPC modules refer to the object connection and embedded (i.e. OLE for for process control
Process Control) module, OPC modules may include that OPC controls and robot monitor two big functions.Opc server refers to
RSLinx opc servers, OPC modules and opc server can be arranged in mechanical arm console, and OPC modules mainly pass through
(i.e. Programmable Logic Controller may be programmed by the server of RSLinx OPC Server and the PLC of mechanical arm
Logic controller) equipment carries out data interaction, and it is the interface module that mechanical arm console carries out mechanical arm control.
102, more rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are starting rail in advance
It is generated on road for carrying out the global startup track scape for controlling all mechanical arms and starting, is generated on geo-stationary orbit complete for carrying out
Office controls the geo-stationary orbit scape that all mechanical arms synchronize, and is generated on speed track and controls all mechanical arm speed for carrying out the overall situation
The speed track scape of degree generates the robot track scape for identifying each mechanical arm, in order track in robot track
Order track scape of the upper generation for being controlled mechanical arm, and utilize and pass through local media editor external interface from local
The local media material obtained in media host generates local media scape on local media track.
In the embodiment of the present invention, more rail playback modules can be arranged in mechanical arm console, and more rail playback modules
Function interface is connect with OPC modules.Wherein, to be more rail playback modules start track according to being drawn to above-mentioned startup track scape
What OPC startup orders (belonging to global command) generated on starting track in advance starts for carrying out global all mechanical arms of control
Track scape;Above-mentioned geo-stationary orbit scape is that more rail playback modules (belong to complete according to the OPC synch commands for being drawn to geo-stationary orbit
Office's order) generated on geo-stationary orbit in advance for carrying out the global track scape for controlling all mechanical arms and synchronizing;Above-mentioned speed
Degree track scape is more rail playback modules according to being drawn to the OPC general speeds order (belonging to global command) of speed track in advance in speed
The track scape for carrying out global all mechanical arm speed of control generated on degree track;Above-mentioned robot track scape is more rails
Playback module generates in robot track above-mentioned for identifying in advance according to the robot label for being drawn to robot track
The track scape of each mechanical arm;Above-mentioned order track scape is more rail playback modules according to the control command for being drawn to order track
The track scape for being controlled mechanical arm that material generates on order track in advance;Above-mentioned local media scape is more rails
Playback module is according to the local for being drawn to local media track from local media host by local media editor external interface
The local media scape that media materials (such as local audio material, local video material) generate on local media track in advance.
In the embodiment of the present invention, the track scape for being controlled mechanical arm generated on order track can be used for controlling
The angle of mechanical arm rotation processed, the direction etc. of rotation.
In the embodiment of the present invention, above-mentioned robot track can be a plurality of robot rail customized according to the quantity of mechanical arm
Road can place corresponding robot label (the preselector label of such as mechanical arm) in each robot track;Its
In, a plurality of robot track is mutually parallel, and corresponding robot label (such as mechanical arm placed in a plurality of robot track
The equal labels of preselector number) be aligned on a timeline, so as to realize to being introduced in stage performance, display and demonstration market
A fairly large number of mechanical arm parallel control, so as to preferably improve control efficiency.
103, OPC modules call the startup track scape, the synchronous rail by function interface from more rail playback modules
Road scape, the speed track scape, the robot track scape, the order track scape and the local media scape, and with
The timing code of external cycles input is that starting point carries out timing, and reaches the full-time mould of more rail playback module settings in timing
As defined in formula when duration, by the startup track scape of calling, the geo-stationary orbit scape, the speed track scape, the order
Track scape and the local media scape are sent to each machine that the robot track scape is identified by opc server
The PLC device of tool arm, so that the PLC device of each mechanical arm is with the startup track scape, the geo-stationary orbit scape, described
Speed track scape and the order track scape are that foundation controls respectively to corresponding mechanical arm, and drives respectively to corresponding machine
Tool arm plays the local media scape simultaneously.
In the embodiment of the present invention, the timing code of external cycles input can be different, so as to realize to mechanical arm
Personalized time control.
Wherein, the PLC device of each mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track
Scape and the order track scape are foundation, to respectively carrying out startup control, synchronous control, speed control to corresponding mechanical arm
And the corresponding control (such as rotating counterclockwise specified duration) of order control material.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, following step can also be performed
Suddenly:
OPC modules detection user touches operation for the corresponding monitoring box of any one mechanical arm, and responds this and touch behaviour
Make the robot detail parameters by opc server monitoring any one mechanical arm, wherein robot detail parameters include machine
Device people's shaft angle degree, is currently running program number, current run time and total run time at robot speed, wherein:
1) manipulator shaft angle is stated:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules detect user
For the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation taken by the OPC
It is engaged in before the robot detail parameters of device monitoring any one mechanical arm, following steps can also be performed:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;Wherein, the ordering rule of the plurality of different figure refers to
The name placement relationship of the plurality of different figure;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described mechanical arm of the corresponding template fingerprint feature of rule is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one mechanical arm by the opc server.
Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are
The unique tags of template fingerprint feature corresponding with any one described mechanical arm are identical and touch the input fingerprint of fingerprint image
The phase between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in feature
When like degree more than predetermined threshold value, it is described any by opc server monitoring just operation to be touched described in the execution response
The step of robot detail parameters of a mechanical arm, so as to significantly improve the robot of monitoring any one mechanical arm
The safety of detail parameters prevents the robot detail parameters of any one mechanical arm from being inquired wantonly and caused by disabled user
Data leak.
More preferably, as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules exist
After judging that fingerprint minutiae similarity is more than predetermined threshold value, and touches described in response operation and serviced by the OPC
Before the robot detail parameters of device monitoring any one mechanical arm, following steps can also be first carried out:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;Optionally, if the input fingerprint
Feature is not matched that with the license user fingerprints feature, then is sent out to the corresponding license user of the license user fingerprints feature
Before sending monitoring license request, it may further determine that whether the input fingerprint characteristic belongs to the license user fingerprints feature
Fingerprint characteristic in same user collection is combined, if belonged to, then it is assumed that the user and institute that the input fingerprint characteristic belongs to
The license user belonging to license user fingerprints feature is stated mutually to be familiar with, it at this time can be corresponding to the license user fingerprints feature
User is permitted to send monitoring license request, so as to permit user prevents strange user to disturb;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the step of operation monitors the robot detail parameters of any one mechanical arm by the opc server.Wherein, described
Input fingerprint characteristic matches with the license user fingerprints feature to be referred to including the input fingerprint characteristic and the license user
There are pairing relationships between line feature, and license user fingerprints feature template corresponding with any one described mechanical arm refers to
Line feature can be different.
Obviously, implement the above embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule, and the unique tags of the corresponding template fingerprint feature of the ordering rule again with institute
The unique tags for stating the corresponding template fingerprint feature of any one mechanical arm are identical and touch the input fingerprint characteristic of fingerprint image
In fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in fingerprint minutiae between similarity
When more than predetermined threshold value, the opc server license user bound or the license user bound by opc server is only allowed to be permitted
Can other users permitting user-defined license access time section, any one machine described in opc server monitoring could be passed through
The robot detail parameters of tool arm, so as to realize by opc server and any one mechanical arm dual license it
Afterwards, the robot detail parameters that any one mechanical arm could be monitored by opc server, so as to significantly improve prison
Depending on the safety of the robot detail parameters of any one mechanical arm, prevent the robot of any one mechanical arm from joining in detail
Data leak caused by number is inquired wantonly by disabled user.
More preferably, it as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, can also wrap
Include following steps:
The OPC modules detection user instructs for the global monitoring of all mechanical arms input, and responds the global prison
Control instruction monitors that the robot global parameter of all mechanical arms, the robot global parameter include by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
More preferably, in the Mechanical arm control method described in Fig. 1, the OPC modules detection user is directed to all machineries
After the global monitoring instruction of arm input, and the response global monitoring instruction is organic by opc server monitoring institute
Before the robot global parameter of tool arm, the method further includes:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
Obviously, implement the above embodiment, when global monitoring instruction includes key to be verified, and the overall situation
What the key to be verified and opc server that monitoring instruction includes were bound allows all by opc server monitoring
When the corresponding unique legitimate secret of unique tags of the control platform management user of the robot global parameter of mechanical arm is identical, Cai Nengtong
The robot global parameter that the opc server monitors all mechanical arms is crossed, so as to significantly improve all machineries of monitoring
The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms inquired wantonly by disabled user and
Caused data leak.
More preferably, in the Mechanical arm control method described in Fig. 1, OPC modules play back mould by function interface from more rails
The startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape, the life are called in block
Before enabling track scape and the local media scape, the method is further comprising the steps of:
The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and is responded
The edit instruction is to track scape into edlin, wherein editor includes that binding, unbundlings, left-justify, isometric, mouse, region are selected
It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein:
1) it binds:Together by the binding of multiple scapes, the scape of binding as a whole, executes including mobile, deletion
It comes into force simultaneously when operation;
2) it unbinds:Two scapes are unbinding;
3) left-justify:Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify;
4) isometric:The scape chosen is carried out isometric behaviour by the multiple scapes for choosing same type using the last one scape as target
Make;
5) mouse:When selecting other functions, to make other disablers, mouse state need to be switched to;
6) regional choice:Regional frame chooses corresponding track scape;
7) it shields:Shielding is mutually done something for the occasion, its failure is made;
8) it deletes:Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape;
9) it replicates:The scape to be replicated is chosen, is replicated;
10) it pastes:The scape replicated is pasted;
11) it cancels:By current operation revocation to a upper mode of operation;
12) restore:Current operation is restored to next mode of operation;
13) it marks:Corresponding label is done at the time of on a timeline;
14) it removes:All labels on checkout time axis;
15) upper one:Jump to a upper mark position for time shaft;
16) next:Jump to next mark position on time shaft;
17) it is arranged:It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to make
Program number.
More preferably, in the Mechanical arm control method described in Fig. 1, the method is further comprising the steps of:
It detects user and instruction is arranged to the track attribute of multiple track inputs in more rail playback modules, and respond the track
Attribute setting instruction is configured the track attribute of the multiple track, wherein:Track attribute may include track name, rail
Road locking, track closing, the list of track scape, track scape operation (replicate, delete, positioning, renaming) etc..
As an alternative embodiment, the track category that multiple tracks input in detection user is to more rail playback modules
Property setting instruction after, can according to the track attribute of the multiple track that has counted in advance setting frequency from high in the end
Sequentially, the track attribute of the multiple track is ranked up, consequently facilitating user to setting the higher track attribute of frequency into
Row quickly setting.
Obviously, implement Mechanical arm control method described in Fig. 1, it can be effectively to being introduced to stage performance, exhibition exhibition
Show that a fairly large number of mechanical arm in market carries out centralized control, to improve to being introduced in stage performance, display and demonstration market
A fairly large number of mechanical arm control efficiency;The synchronous control that can also realize local media and mechanical arm, so as to for
Stage performance, display and demonstration market output preferably service.
Embodiment two
Referring to Fig. 2, Fig. 2 is the machine that the full-time pattern of a kind of multi-track disclosed by the embodiments of the present invention is combined with local media
The structural schematic diagram of tool arm console.As shown in Fig. 2, the mechanical arm console may comprise steps of:
OPC modules, opc server and more rail playback modules, wherein the OPC modules by OPC agreements with it is described
Opc server establishes data communication connection, and the opc server establishes data by the PLC device of network and each mechanical arm
Communication connection;The OPC modules are established data communication with more rail playback modules by function interface and are connect;More rails return
Amplification module is established data communication with local media host by local media editor external interface and is connect;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting in advance
It is generated on track for carrying out the global startup track scape for controlling all mechanical arms and starting, is generated on geo-stationary orbit for carrying out
The overall situation controls the geo-stationary orbit scape that all mechanical arms synchronize, and is generated on speed track and controls all mechanical arms for carrying out the overall situation
The speed track scape of speed generates the robot track scape for identifying each mechanical arm, in order rail in robot track
The order track scape for being controlled mechanical arm is generated on road, and is utilized through local media editor external interface from originally
The local media material obtained in ground media host generates local media scape on local media track;
The OPC modules, for the track by calling the multiple track pre-generatmg from more rail playback modules
Scape, and timing is carried out as starting point using the timing code that outside periodically inputs, and reach more rail playback modules in timing and set
As defined in the full-time pattern set when duration, the track scape of the multiple track pre-generatmg of calling is passed through into the opc server
It is sent to the PLC device of each mechanical arm, so that the PLC device of each mechanical arm is according to the pre- life of the multiple track
At track scape respectively corresponding mechanical arm is controlled.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to touch operation of the detection user for the corresponding monitoring box of any one mechanical arm, and ring
Answer the robot detail parameters touched operation and monitor any one mechanical arm by the opc server, the machine
People's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation
Between, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to detection user touching after operation for the corresponding monitoring box of any one mechanical arm,
And response described in touch operation by the opc server monitoring described in any one mechanical arm robot detail parameters it
Before, execute following operation:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described mechanical arm of the corresponding template fingerprint feature of rule is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one mechanical arm by the opc server.
Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are
The unique tags of template fingerprint feature corresponding with any one described mechanical arm are identical and touch the input fingerprint of fingerprint image
The phase between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in feature
When like degree more than predetermined threshold value, it is described any by opc server monitoring just operation to be touched described in the execution response
The step of robot detail parameters of a mechanical arm, so as to significantly improve the robot of monitoring any one mechanical arm
The safety of detail parameters prevents the robot detail parameters of any one mechanical arm from being inquired wantonly and caused by disabled user
Data leak.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And before robot detail parameters of the operation by opc server monitoring any one mechanical arm, also execute following behaviour
Make:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;Optionally, if the input fingerprint
Feature is not matched that with the license user fingerprints feature, then is sent out to the corresponding license user of the license user fingerprints feature
Before sending monitoring license request, it may further determine that whether the input fingerprint characteristic belongs to the license user fingerprints feature
Fingerprint characteristic in same user collection is combined, if belonged to, then it is assumed that the user and institute that the input fingerprint characteristic belongs to
The license user belonging to license user fingerprints feature is stated mutually to be familiar with, it at this time can be corresponding to the license user fingerprints feature
User is permitted to send monitoring license request, so as to permit user prevents strange user to disturb;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the robot detail parameters that operation monitors any one mechanical arm by the opc server.Wherein, the input refers to
Line feature matches with the license user fingerprints feature including the input fingerprint characteristic and the license user fingerprints feature
Between there are pairing relationship, and license user fingerprints feature template fingerprint feature corresponding with any one described mechanical arm
It can be different.
Obviously, implement the above embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule, and the unique tags of the corresponding template fingerprint feature of the ordering rule again with institute
The unique tags for stating the corresponding template fingerprint feature of any one mechanical arm are identical and touch the input fingerprint characteristic of fingerprint image
In fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in fingerprint minutiae between similarity
When more than predetermined threshold value, the opc server license user bound or the license user bound by opc server is only allowed to be permitted
Can other users permitting user-defined license access time section, any one machine described in opc server monitoring could be passed through
The robot detail parameters of tool arm, so as to realize by opc server and any one mechanical arm dual license it
Afterwards, the robot detail parameters that any one mechanical arm could be monitored by opc server, so as to significantly improve prison
Depending on the safety of the robot detail parameters of any one mechanical arm, prevent the robot of any one mechanical arm from joining in detail
Data leak caused by number is inquired wantonly by disabled user.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and described in response
Global monitoring instructs the robot global parameter that all mechanical arms are monitored by the opc server, the robot global ginseng
Number includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
After the OPC modules detection user is for the global monitoring instruction of all mechanical arms input, and described in response
Before global monitoring instructs the robot global parameter for monitoring all mechanical arms by the opc server, following behaviour is also executed
Make:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
Obviously, implement the above embodiment, when global monitoring instruction includes key to be verified, and the overall situation
What the key to be verified and opc server that monitoring instruction includes were bound allows all by opc server monitoring
When the corresponding unique legitimate secret of unique tags of the control platform management user of the robot global parameter of mechanical arm is identical, Cai Nengtong
The robot global parameter that the opc server monitors all mechanical arms is crossed, so as to significantly improve all machineries of monitoring
The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms inquired wantonly by disabled user and
Caused data leak.
More preferably, in the mechanical arm console described in Fig. 2, OPC modules are by function interface from more rail playback modules
It is middle to call the startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape, the order
Before track scape and the local media scape, following operation can also be performed in OPC modules:
The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and is responded
The edit instruction is to track scape into edlin, wherein editor includes that binding, unbundlings, left-justify, isometric, mouse, region are selected
It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein:
1) it binds:Together by the binding of multiple scapes, the scape of binding as a whole, executes including mobile, deletion
It comes into force simultaneously when operation;
2) it unbinds:Two scapes are unbinding;
3) left-justify:Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify;
4) isometric:The scape chosen is carried out isometric behaviour by the multiple scapes for choosing same type using the last one scape as target
Make;
5) mouse:When selecting other functions, to make other disablers, mouse state need to be switched to;
6) regional choice:Regional frame chooses corresponding track scape;
7) it shields:Shielding is mutually done something for the occasion, its failure is made;
8) it deletes:Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape;
9) it replicates:The scape to be replicated is chosen, is replicated;
10) it pastes:The scape replicated is pasted;
11) it cancels:By current operation revocation to a upper mode of operation;
12) restore:Current operation is restored to next mode of operation;
13) it marks:Corresponding label is done at the time of on a timeline;
14) it removes:All labels on checkout time axis;
15) upper one:Jump to a upper mark position for time shaft;
16) next:Jump to next mark position on time shaft;
17) it is arranged:It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to make
Program number.
More preferably, in the mechanical arm console described in Fig. 2, following operation can also be performed in OPC modules:
It detects user and instruction is arranged to the track attribute of multiple track inputs in more rail playback modules, and respond the track
Attribute setting instruction is configured the track attribute of the multiple track, wherein:Track attribute may include track name, rail
Road locking, track closing, the list of track scape, track scape operation (replicate, delete, positioning, renaming) etc..
As an alternative embodiment, the track category that multiple tracks input in detection user is to more rail playback modules
Property setting instruction after, OPC modules can according to the track attribute of the multiple track counted in advance setting frequency from
High sequence on earth is ranked up the track attribute of the multiple track, consequently facilitating user is to being arranged the higher rail of frequency
Road attribute is quickly arranged.
In the embodiment of the present invention, mechanical arm console may also include more rail curtains field module, wherein more rail playback modules
Duration as defined in full-time pattern can be called to be used as more rail playback module settings from the module of more rail curtains field by function interface
Duration as defined in full-time pattern.
In the embodiment of the present invention, mechanical arm console is also provided with control editor module, and control editor module can be with
For editor control order material, editor control order material node and progress equipment management, (such as mechanical arm tag control adds
Add TCP equipment, server address setting) etc. operations.
Obviously, implement mechanical arm console described in Fig. 2, it can be effectively to being introduced to stage performance, display and demonstration
A fairly large number of mechanical arm in market carries out centralized control, to improve to being introduced in stage performance, display and demonstration market
The control efficiency of a fairly large number of mechanical arm;The synchronous control that can also realize local media and mechanical arm, so as to be dance
Platform performance, display and demonstration market output preferably service.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disk storages, magnetic disk storage, magnetic tape storage or can
Any other computer-readable medium for carrying or storing data.
Above to a kind of mechanical arm that the full-time pattern of multi-track is combined with local media control disclosed by the embodiments of the present invention
Platform and method are described in detail, and specific case used herein explains the principle of the present invention and embodiment
It states, the explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention;Meanwhile for this field
Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the content of the present specification should not be construed as limiting the invention.
Claims (13)
1. a kind of Mechanical arm control method that the full-time pattern of multi-track is combined with local media, which is characterized in that including:
More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules generate on starting track in advance
For carrying out the global startup track scape for controlling all mechanical arms and starting, generated on geo-stationary orbit for carrying out global control institute
There is the geo-stationary orbit scape that mechanical arm synchronizes, is generated on speed track for carrying out the global speed for controlling all mechanical arm speed
Track scape, generates the robot track scape for identifying each mechanical arm in robot track, generates and uses on order track
In the order track scape controlled mechanical arm, and utilizes and pass through local media editor external interface from local media host
The local media material of middle acquisition generates local media scape on local media track;
OPC modules call from more rail playback modules the startup track scape, the geo-stationary orbit scape, described by function interface
Speed track scape, the robot track scape, the order track scape and the local media scape, and with external periodical
The timing code of input is starting point progress timing, and when timing reaches as defined in the full-time pattern of more rail playback module settings
When long, by the startup track scape of calling, the geo-stationary orbit scape, the speed track scape, the order track scape and
The local media scape is sent to the PLC for each mechanical arm that the robot track scape is identified by opc server
Equipment, so that the PLC device of each mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track
Scape and the order track scape are that foundation controls corresponding mechanical arm, and drives corresponding mechanical arm while playing
The local media scape.
2. Mechanical arm control method according to claim 1, which is characterized in that the method further includes:
The OPC modules detection user is directed to the operation that touches of the corresponding monitoring box of any one mechanical arm, and is touched described in response
Operation monitors the robot detail parameters of any one mechanical arm, the robot detail parameters by the opc server
Including manipulator shaft angle, robot speed, it is currently running program number, current run time and total run time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
3. Mechanical arm control method according to claim 2, which is characterized in that the OPC modules detection user, which is directed to, to be appointed
One corresponding monitoring box of mechanical arm is touched after operation, and is touched operation described in response and supervised by the opc server
Before the robot detail parameters of any one mechanical arm, the method further includes:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship
With the multiple and different figure of array way sequencing display on mutual interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, determination is arranged again
The ordering rule of the plurality of different figure after sequence;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the ordering rule if be stored with
Unique mark of the unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described mechanical arm
Sign it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image point
It cuts, image enhancement, image binaryzation and micronization processes, acquisition input refine fingerprint image;
It takes the fingerprint minutiae point in the input refines fingerprint image, and to input refinement fingerprint image into line trace,
And the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refines the sampling of fingerprint image
The convex closure of point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, structure inputs the fingerprint minutiae local direction in fingerprint characteristic
Description;
According to the fingerprint minutiae part of the description of fingerprint minutiae local direction and template fingerprint feature in input fingerprint characteristic
Direction describes, and calculates in the fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in input fingerprint characteristic
Fingerprint minutiae between similarity, obtain fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing
The step of robot detail parameters of any one mechanical arm being monitored by the opc server.
4. Mechanical arm control method according to claim 3, which is characterized in that judging that fingerprint minutiae similarity is super
It crosses after predetermined threshold value, and touches operation described in response and pass through opc server monitoring any one mechanical arm
Before robot detail parameters, the method further includes:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is joined in detail by the opc server
The unique identities label of several license users;
If binding has the unique identities label of the license user, using the unique identities label of the license user as foundation,
The corresponding license user fingerprints feature of unique identities label of the license user is inquired from database;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint characteristic
It is not matched that with the license user fingerprints feature, sending monitoring to the corresponding license user of the license user fingerprints feature is permitted
It can ask, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, the prison is identified
Depending on license agree to response receiving time whether be located at the opc server binding allow monitored by the opc server
In the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes and touch operation described in the response and pass through institute
The step of stating the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at
Permit in access time section;If current time is located in license access time section, executes and touched described in the response
Operation monitors the step of robot detail parameters of any one mechanical arm by the opc server.
5. according to the Mechanical arm control method described in claim 2,3 or 4, which is characterized in that the method further includes:
The OPC modules detection user instructs for the global monitoring of all mechanical arms input, and responds the global monitoring and refer to
The robot global parameter that all mechanical arms are monitored by the opc server is enabled, the robot global parameter includes machine
People's global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs to service by the OPC
Device judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because speed is set
It sets by global speed to be arranged and carries out being carried out at the same time speed setting to each mechanical arm, when a speed occur in all mechanical arms
It spends nonsynchronous situation just to need to carry out alarm, and needs to stop mechanical arm operation.
6. Mechanical arm control method according to claim 5, which is characterized in that the OPC modules detection user is directed to institute
After having the global monitoring instruction that mechanical arm inputs, and the response global monitoring instruction is monitored by the opc server
Before the robot global parameter of all mechanical arms, the method further includes:
Whether detect the opc server and bind allows to monitor that the robot of all mechanical arms is complete by the opc server
The unique tags of the control platform management user of office's parameter;
If binding has the unique identities label of the control platform management user, the unique identities label of user is managed with the control platform
For foundation, the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes described waits for
It is whether identical as unique legitimate secret of the control platform management user to compare the key to be verified for check key;If identical,
Execute the robot global parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
7. Mechanical arm control method according to claim 6, which is characterized in that OPC modules are by function interface from more rails
Called in playback module the startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape,
Before the order track scape and the local media scape, the method further includes:
The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and described in response
Edit instruction is to track scape into edlin, wherein editor includes binding, unbundlings, left-justify, isometric, mouse, regional choice, screen
It covers, delete, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein:
1) it binds:Together by the binding of multiple scapes, the scape of binding as a whole, is executed including operation mobile, including deletion
When come into force simultaneously;
2) it unbinds:Two scapes are unbinding;
3) left-justify:Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify;
4) isometric:The scape chosen is carried out isometric operation by the multiple scapes for choosing same type using the last one scape as target;
5) mouse:When selecting other functions, to make other disablers, mouse state need to be switched to;
6) regional choice:Regional frame chooses corresponding track scape;
7) it shields:Shielding is mutually done something for the occasion, its failure is made;
8) it deletes:Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape;
9) it replicates:The scape to be replicated is chosen, is replicated;
10) it pastes:The scape replicated is pasted;
11) it cancels:By current operation revocation to a upper mode of operation;
12) restore:Current operation is restored to next mode of operation;
13) it marks:Corresponding label is done at the time of on a timeline;
14) it removes:All labels on checkout time axis;
15) upper one:Jump to a upper mark position for time shaft;
16) next:Jump to next mark position on time shaft;
17) it is arranged:It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to use
Program number.
8. a kind of mechanical arm console that the full-time pattern of multi-track is combined with local media, which is characterized in that including:
OPC modules, opc server and more rail playback modules, wherein the OPC modules are taken by OPC agreements and the OPC
Business device establishes data communication connection, and the opc server is established data communication by the PLC device of network and each mechanical arm and connected
It connects;The OPC modules are established data communication with more rail playback modules by function interface and are connect;More rail playback modules
Data communication is established by local media editor external interface with local media host to connect;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting track in advance
It is upper to generate for carrying out the global startup track scape for controlling all mechanical arms and starting, it is generated on geo-stationary orbit for carrying out the overall situation
The geo-stationary orbit scape that all mechanical arms synchronize is controlled, is generated on speed track for carrying out global all mechanical arm speed of control
Speed track scape, robot track scape for identifying each mechanical arm is generated in robot track, on order track
The order track scape for being controlled mechanical arm is generated, and utilizes and passes through local media editor external interface from local matchmaker
The local media material obtained in body host generates local media scape on local media track;
The OPC modules, for the track scape by calling the multiple track pre-generatmg from more rail playback modules, with
And the timing code periodically inputted using outside carries out timing as starting point, and reach the complete of more rail playback module settings in timing
When pattern as defined in duration when, the track scape of the multiple track pre-generatmg of calling is sent to by the opc server
The PLC device of each mechanical arm, so that rail of the PLC device of each mechanical arm according to the multiple track pre-generatmg
Road scape controls corresponding mechanical arm.
9. mechanical arm console according to claim 8, it is characterised in that:
The OPC modules are additionally operable to detection user and touch operation for the corresponding monitoring box of any one mechanical arm, and respond institute
It states and touches the robot detail parameters that operation monitors any one mechanical arm by the opc server, the robot is detailed
Thin parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time,
Wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
10. mechanical arm console according to claim 9, it is characterised in that:The OPC modules are additionally operable in detection user
For the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation taken by the OPC
It is engaged in before the robot detail parameters of device monitoring any one mechanical arm, executes following operation:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship
With the multiple and different figure of array way sequencing display on mutual interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, determination is arranged again
The ordering rule of the plurality of different figure after sequence;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the ordering rule if be stored with
Unique mark of the unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described mechanical arm
Sign it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image point
It cuts, image enhancement, image binaryzation and micronization processes, acquisition input refine fingerprint image;
It takes the fingerprint minutiae point in the input refines fingerprint image, and to input refinement fingerprint image into line trace,
And the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refines the sampling of fingerprint image
The convex closure of point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, structure inputs the fingerprint minutiae local direction in fingerprint characteristic
Description;
According to the fingerprint minutiae part of the description of fingerprint minutiae local direction and template fingerprint feature in input fingerprint characteristic
Direction describes, and calculates in the fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in input fingerprint characteristic
Fingerprint minutiae between similarity, obtain fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing
The robot detail parameters of any one mechanical arm are monitored by the opc server.
11. mechanical arm console according to claim 10, which is characterized in that the OPC modules are judging that fingerprint is thin
After node similarity is more than predetermined threshold value, and touches described in response operation and appoint by the way that opc server monitoring is described
Before the robot detail parameters of one mechanical arm, following operation is also executed:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is joined in detail by the opc server
The unique identities label of several license users;
If binding has the unique identities label of the license user, using the unique identities label of the license user as foundation,
The corresponding license user fingerprints feature of unique identities label of the license user is inquired from database;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint characteristic
It is not matched that with the license user fingerprints feature, sending monitoring to the corresponding license user of the license user fingerprints feature is permitted
It can ask, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, the prison is identified
Depending on license agree to response receiving time whether be located at the opc server binding allow monitored by the opc server
In the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes and touch operation described in the response and pass through institute
The step of stating the robot detail parameters of opc server monitoring any one mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at
Permit in access time section;If current time is located in license access time section, executes and touched described in the response
Operation monitors the robot detail parameters of any one mechanical arm by the opc server.
12. according to the mechanical arm console described in claim 9,10 or 11, it is characterised in that:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and respond the overall situation
Monitoring instruction monitors the robot global parameter of all mechanical arms, the robot global parameter packet by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed are included, wherein:
1) the robot global speed:Show the global speed of robot;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs to service by the OPC
Device judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all mechanical arms should be consistent in operational process, because speed is set
It sets by global speed to be arranged and carries out being carried out at the same time speed setting to each mechanical arm, when a speed occur in all mechanical arms
It spends nonsynchronous situation just to need to carry out alarm, and needs to stop mechanical arm operation.
13. mechanical arm console according to claim 12, which is characterized in that the OPC modules detection user is directed to institute
After having the global monitoring instruction that mechanical arm inputs, and the response global monitoring instruction is monitored by the opc server
Before the robot global parameter of all mechanical arms, following operation is also executed:
Whether detect the opc server and bind allows to monitor that the robot of all mechanical arms is complete by the opc server
The unique tags of the control platform management user of office's parameter;
If binding has the unique identities label of the control platform management user, the unique identities label of user is managed with the control platform
For foundation, the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes described waits for
It is whether identical as unique legitimate secret of the control platform management user to compare the key to be verified for check key;If identical,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
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US7502610B2 (en) * | 2002-06-28 | 2009-03-10 | Qualcomm Incorporated | System and method for application management through threshold events |
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CN203070033U (en) * | 2013-03-06 | 2013-07-17 | 罗实 | PLC remote monitoring system based on Web |
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CN104626166A (en) * | 2014-12-19 | 2015-05-20 | 东莞市易辉自动化机械有限公司 | Hardware controller of mechanical arm |
CN104699122B (en) * | 2015-02-12 | 2017-03-08 | 哈尔滨工业大学 | A kind of robot movement-control system |
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