CN106335045A - Mechanical arm console combining remote media and voice detection, and method - Google Patents
Mechanical arm console combining remote media and voice detection, and method Download PDFInfo
- Publication number
- CN106335045A CN106335045A CN201610900407.9A CN201610900407A CN106335045A CN 106335045 A CN106335045 A CN 106335045A CN 201610900407 A CN201610900407 A CN 201610900407A CN 106335045 A CN106335045 A CN 106335045A
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- China
- Prior art keywords
- mechanical arm
- target mechanical
- robot
- fingerprint
- scape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several 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
- B25J19/026—Acoustical sensing devices
-
- 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
- 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
Abstract
The invention provides a mechanical arm console combining remote media and voice detection, and a method. The method comprises the steps that mechanical arms which are located in the areas where voice signals are detected are regarded as the target mechanical arms; starting rail scenes, synchronous rail scenes, speed rail scenes, robot rail scenes, order rail scenes and remote media scenes are invoked from a multi-rail playback module by an OPC module; the starting rail scenes, the synchronous rail scenes, the speed rail scenes, the order rail scenes and the remote media scenes are sent to PLC equipment of all the target mechanical arms identified by the robot rail scenes through an OPC server, so that the PLC equipment of all the target mechanical arms is made to control the corresponding target mechanical arms according to the starting rail scenes, the synchronous rail scenes, the speed rail scenes and the order rail scenes and drive the corresponding target mechanical arms to play the remote media scenes simultaneously. According to the mechanical arm console combining remote media and voice detection, and the method, a large number of mechanical arms in a performance place can be subjected to centralized control effectively to improve the control efficiency of the multiple mechanical arms, and synchronous control over remote media and the mechanical arms is achieved.
Description
Technical field
The present invention relates to performing integration control technology field, more particularly, to a kind of remote media is combined with speech detection
Mechanical arm control station and method.
Background technology
At present, 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 attitude) requires to move, thus completing a certain industrial job requirements instrument.
For the service good to the output of the performance sites such as stage, exhibition room, mechanical arm is gradually introduced the performance sites such as stage, exhibition room
In.In practice, it has been found that getting more and more with the mechanical arm being introduced in the performance sites such as stage, exhibition room, how to being introduced to wave
A fairly large number of mechanical arm in the performance sites such as platform, exhibition room carries out centralized Control, is drilled to being introduced to stage, exhibition room etc. with improving
Go out the control efficiency of a fairly large number of mechanical arm in place, and how further to realize the same of remote media and mechanical arm
Step controls such that it is able to preferably service for the output of the performance site such as stage, exhibition room, is that the performance sites such as stage, exhibition room are badly in need of
The technical barrier solving.
Content of the invention
The embodiment of the invention discloses a kind of mechanical arm control station that combines with speech detection of remote media and method, energy
Enough effectively a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room is carried out with centralized Control, improve to drawing
Enter the control efficiency of a fairly large number of mechanical arm to the performance sites such as stage, exhibition room.
Embodiment of the present invention first aspect discloses the Mechanical arm control method that a kind of remote media is combined with speech detection,
Including:
The detection of opc module is located at the instruction message that each mechanical arm of performance site zones of different reports, and to described
Indicate that the content of message is identified, if the content of described instruction message shows that described mechanical arm detects residing for described mechanical arm
Region produces voice signal, using described mechanical arm as target mechanical arm;
Many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module is in advance on starting track
Generate for carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out entirely
Office controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates and be used for carrying out the overall situation each target of control on speed track
The speed track scape of mechanical arm speed, generates the robot track for identifying each target mechanical arm in robot track
Scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by long-range
The remote media material that media editing external interface obtains from remote media server generates remotely on remote media track
Media scape;
Opc module by function interface call from many rails playback module described startup track scape, described geo-stationary orbit scape,
Described speed track scape, described robot track scape, described order track scape and described remote media scape;And with outside week
The timing code of phase property input carries out timing for starting point, and reaches the full-time pattern regulation of described many rails playback module setting in timing
Duration when, by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described order track scape
And described remote media scape is sent to, by opc server, each target machinery described that described robot track scape is identified
The plc equipment of arm, so that the plc equipment of each target mechanical arm described is with described startup track scape, described geo-stationary orbit scape, institute
Stating speed track scape and described order track scape is according to each to being each controlled to corresponding target mechanical arm, and driving
Play described remote media scape to corresponding target mechanical arm simultaneously.
As a kind of optional embodiment, in embodiment of the present invention first aspect, methods described also includes:
Described opc module detects that what user was directed to any one corresponding monitoring box of target mechanical arm touches operation, and responds
Described touching operates by the robot detail parameters of any one target mechanical arm described in described opc server monitors, described machine
Device people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total operation
Time, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, Bu Xuxiu
Change;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module detects user's pin
To any one corresponding monitoring box of target mechanical arm touch operation after, and response described in touch operation pass through described opc
Before the robot detail parameters of any one target mechanical arm described in server monitors, methods described also includes:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described people
With the multiple different figure of array way sequencing display on machine interactive interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine weight
The ordering rule of the plurality of different figure after new sort;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described sequence
The unique tags of the corresponding template fingerprint feature of rule whether with any one target mechanical arm described corresponding template fingerprint feature
Unique tags identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment is included respectively to the described image touching fingerprint image
Segmentation, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Described input refinement fingerprint image takes the fingerprint minutiae point, and described input refinement fingerprint image is carried out with
Track, and extract the sampled point on crestal line in described input refinement fingerprint image, and extract described 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, build the fingerprint minutiae local in input fingerprint characteristic
Direction describes;
Fingerprint minutiae according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Local direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is referred to any one corresponding template of target mechanical arm described
The similarity between fingerprint minutiae in stricture of vagina feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution
The step by the robot detail parameters of any one target mechanical arm described in described opc server monitors for the operation.
As a kind of optional embodiment, in embodiment of the present invention first aspect, judging fingerprint minutiae phase
After exceeding predetermined threshold value like degree, and pass through any one mesh described in described opc server monitors touching operation described in response
Before the robot detail parameters of mark mechanical arm, methods described also includes:
Detect whether described opc server binds the robot allowing to pass through described opc server monitors mechanical arm detailed
The unique identities label of the license user of thin parameter;
If binding have described license user unique identities label, with described license user unique identities label be according to
According to, inquire about from data base described license user unique identities label corresponding license user fingerprints feature;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint
Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature
Depending on license request, described supervision license request includes the label of any one mechanical arm described;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify institute
State and monitor the permission permitting the reception time agreeing to response whether to be located at described opc server binding by described opc server
Monitor in the license access time section of robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touch operation described in the described response of execution logical
The step crossing the robot detail parameters of any one target mechanical arm described in described opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at
In described license access time section;If current time is located in described license access time section, described in the described response of execution
Touch the step operating by the robot detail parameters of any one target mechanical arm described in described opc server monitors.
As a kind of optional embodiment, in embodiment of the present invention first aspect, methods described also includes:
Described opc module detects that user is directed to the global monitoring instruction of all target mechanical arm inputs, and responds described complete
The robot global parameter by all target mechanical arms of described opc server monitors for office's monitoring instruction, described robot global
Parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need by described opc
Server judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because
The setting of speed can only carry out carrying out speed setting to each target mechanical arm by global speed setting simultaneously, when all targets
The nonsynchronous situation of mechanical arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module detects user's pin
After the global monitoring instruction of all target mechanical arms input, and response described global monitoring instruction is taken by described opc
Before business device monitors the robot global parameter of all target mechanical arms, methods described also includes:
Detect whether described opc server binds the machine allowing by all mechanical arms of described opc server monitors
The control platform of people's global parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities of user with described control platform
Label is foundation, inquires about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute
State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user;If identical,
The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution
The step of parameter.
Embodiment of the present invention second aspect discloses the mechanical arm control that a kind of remote media is combined, bag with speech detection
Include:
Opc module, the instruction message that each mechanical arm being located at performance site zones of different for detection reports, and right
The content of described instruction message is identified, if the content of described instruction message shows that described mechanical arm detects described mechanical arm
Residing region produces voice signal, using described mechanical arm as target mechanical arm;
Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting in advance
Generate on track for carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for
Carry out the overall geo-stationary orbit scape controlling each target mechanical arm synchronous, speed track generates and is used for carrying out overall situation control respectively
The speed track scape of individual target mechanical arm speed, generates the robot for identifying each target mechanical arm in robot track
Track scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using passing through
The remote media material that remote media editor's external interface obtains from remote media server generates on remote media track
Remote media scape;
Described opc module, is additionally operable to call described startup track scape, described from many rails playback module by function interface
Geo-stationary orbit scape, described speed track scape, described robot track scape, described order track scape and described remote media scape;
And timing is carried out for starting point with the timing code of outside periodically input, and reach described many rails playback module setting in timing
During the duration that full-time pattern specifies, by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, institute
State order track scape and described remote media scape by opc server be sent to that described robot track scape identified described
The plc equipment of each target mechanical arm, so that the plc equipment of each target mechanical arm described is with described startup track scape, described
Geo-stationary orbit scape, described speed track scape and described order track scape are according to each carrying out to corresponding target mechanical arm
Control, and drive and each described remote media scape is play to corresponding target mechanical arm simultaneously.
As a kind of optional embodiment, in embodiment of the present invention second aspect:
Described opc module, be additionally operable to detect user be directed to any one corresponding monitoring box of target mechanical arm touch operation,
And described in responding, touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors,
Described robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and
Total run time, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, Bu Xuxiu
Change;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
As a kind of optional embodiment, in embodiment of the present invention second aspect:
Described opc module be additionally operable to detection user be directed to any one corresponding monitoring box of target mechanical arm touch operation
Afterwards, and response described in touch operation detailed by the robot of any one target mechanical arm described in described opc server monitors
Before thin parameter, execution is following to be operated:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described people
With the multiple different figure of array way sequencing display on machine interactive interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine weight
The ordering rule of the plurality of different figure after new sort;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described sequence
The unique tags of the corresponding template fingerprint feature of rule whether with any one target mechanical arm described corresponding template fingerprint feature
Unique tags identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment is included respectively to the described image touching fingerprint image
Segmentation, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Described input refinement fingerprint image takes the fingerprint minutiae point, and described input refinement fingerprint image is carried out with
Track, and extract the sampled point on crestal line in described input refinement fingerprint image, and extract described 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, build the fingerprint minutiae local in input fingerprint characteristic
Direction describes;
Fingerprint minutiae according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Local direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is referred to any one corresponding template of target mechanical arm described
The similarity between fingerprint minutiae in stricture of vagina feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution
The robot detail parameters by any one target mechanical arm described in described opc server monitors for the operation.
As a kind of optional embodiment, in embodiment of the present invention second aspect:
Described opc module is after judging that fingerprint minutiae similarity exceedes predetermined threshold value, and is responding described touching
And operation by the robot detail parameters of any one target mechanical arm described in described opc server monitors before, also execute with
Lower operation:
Detect whether described opc server binds the robot allowing to pass through described opc server monitors mechanical arm detailed
The unique identities label of the license user of thin parameter;
If binding have described license user unique identities label, with described license user unique identities label be according to
According to, inquire about from data base described license user unique identities label corresponding license user fingerprints feature;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint
Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature
Depending on license request, described supervision license request includes the label of any one target mechanical arm described;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify institute
State and monitor the permission permitting the reception time agreeing to response whether to be located at described opc server binding by described opc server
Monitor in the license access time section of robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touch operation described in the described response of execution logical
The step crossing the robot detail parameters of any one target mechanical arm described in described opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at
In described license access time section;If current time is located in described license access time section, described in the described response of execution
Touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors.
As a kind of optional embodiment, in embodiment of the present invention second aspect:
Described opc module is additionally operable to detect the global monitoring instruction that user is directed to all target mechanical arm inputs, and responds
The robot global parameter by all target mechanical arms of described opc server monitors for the described global monitoring instruction, described machine
People's global parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need by described opc
Server judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because
The setting of speed can only carry out carrying out speed setting to each target mechanical arm by global speed setting simultaneously, when all targets
The nonsynchronous situation of mechanical arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
As a kind of optional embodiment, in embodiment of the present invention second aspect:
After described opc module detects the global monitoring instruction that user is directed to all target mechanical arm inputs, and response
Before the robot global parameter by all target mechanical arms of described opc server monitors for the described global monitoring instruction, also hold
Row is following to be operated:
Detect whether described opc server binds the machine allowing by all mechanical arms of described opc server monitors
The control platform of people's global parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities of user with described control platform
Label is foundation, inquires about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute
State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user;If identical,
The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution
Parameter.
Compared with prior art, the embodiment of the present invention possesses following beneficial effect:
In the embodiment of the present invention, opc module can produce voice letter by region residing for mechanical arm is detected in performance site
Number mechanical arm as target mechanical arm, and startup track scape, synchronous rail are called from many rails playback module by function interface
Road scape, speed track scape, robot track scape, order track scape and remote media scape, and with outside periodically input
Timing code carries out timing for starting point, and the full-time pattern reaching the setting of many rails playback module in timing specify duration when, will adjust
Startup track scape, geo-stationary orbit scape, speed track scape, order track scape and remote media scape are sent out by opc server
Give the plc equipment of each target mechanical arm that robot track scape is identified so that the plc equipment of each target mechanical arm with
Start track scape, geo-stationary orbit scape, speed track scape and order track scape be according to each to corresponding target mechanical arm
It is controlled, and drive each to corresponding target mechanical arm playing remote media scape simultaneously.Obviously, implement the embodiment of the present invention
In, effectively centralized Control can be carried out to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room, thus
The control efficiency to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room can be improved.Further, since inspection
Measuring residing for mechanical arm region and produce voice signal can be to speak after spectators enter target mechanical arm region and cause,
Therefore, implement the embodiment of the present invention, only spectators enter target mechanical arm region and when speaking just concentration to introducing
Each target mechanical arm to the performance sites such as stage, exhibition room is controlled, such that it is able to reduce to being introduced to stage, exhibition room
The power consumption brought when being controlled Deng a fairly large number of mechanical arm in performance site.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below by use required in embodiment
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings
Figure.
Fig. 1 is the Mechanical arm control method that a kind of remote media disclosed in the embodiment of the present invention is combined with speech detection
Schematic flow sheet;
Fig. 2 is the knot of the mechanical arm control station that a kind of remote media disclosed in the embodiment of the present invention is combined with speech detection
Structure schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of not making creative work
Apply example, broadly fall into the scope of protection of the invention.
The embodiment of the invention discloses a kind of mechanical arm control station that combines with speech detection of remote media and method, energy
Enough effectively a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room is carried out with centralized Control, improve to drawing
Enter the control efficiency of a fairly large number of mechanical arm to the performance sites such as stage, exhibition room.Below it is combined accompanying drawing to carry out in detail
Thin description.
Embodiment one
Refer to Fig. 1, Fig. 1 is the mechanical arm that a kind of remote media disclosed in the embodiment of the present invention is combined with speech detection
The schematic flow sheet of control method.Wherein, the Mechanical arm control method that the remote media described by Fig. 1 is combined with speech detection
Can apply to mechanical arm control station.As shown in figure 1, this Mechanical arm control method may comprise steps of:
101st, opc module is set up data communication by opc agreement with opc server and is connected, and described opc server passes through net
Network is set up data communication with the plc equipment of all mechanical arms positioned at performance site zones of different and is connected.
In the embodiment of the present invention, opc module refers to connect for the object of process control and embedded (i.e. ole for
Process control) module, opc module can include opc control and robot monitors two big functions.Opc server refers to
Rslinx opc server, opc module and opc server can be arranged in mechanical arm control station, and opc module is mainly passed through
(i.e. programmable logic controller, programmable with the plc of mechanical arm for the server of rslinx opc server
Logic controller) equipment carries out data interaction, is the interface module that mechanical arm control station carries out mechanical arm control.
In the embodiment of the present invention, performance site there may be multiple zoness of different, and each region can be with one machine of layout
Tool arm.
102nd, opc module detection is located at the instruction message that each mechanical arm of performance site zones of different reports, and right
The content of described instruction message is identified, if the content of described instruction message shows that described mechanical arm detects described mechanical arm
Residing region produces voice signal, using described mechanical arm as target mechanical arm.
In the embodiment of the present invention, mechanical arm can be provided with mike, when spectators enter region residing for mechanical arm and say
During words, mike can detect region residing for mechanical arm and produce voice signal, and by the plc equipment of mechanical arm, instruction disappeared
Breath reports opc module, and wherein, this instruction message is used for showing that described mechanical arm detects region residing for described mechanical arm and produces
Voice signal.
103rd, many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module is starting rail in advance
Generate on road for carry out the overall situation control each target mechanical arm start startup track scape, geo-stationary orbit generates be used for into
The row overall situation controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates and be used for carrying out the overall situation controlling each on speed track
The speed track scape of target mechanical arm speed, generates the robot rail for identifying each target mechanical arm in robot track
Road scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by remote
The remote media material that journey media editing external interface obtains from remote media server generates far on remote media track
Journey media scape.
In the embodiment of the present invention, many rails playback module can be arranged in mechanical arm control station, and many rails playback module
Function interface is connected with opc module.Wherein, the above-mentioned track scape that starts is many rails playback module according to being drawn to startup track
What opc startup order (belonging to global command) generated in advance on starting track is used for carrying out the overall situation each target mechanical arm of control
The track scape starting;Above-mentioned geo-stationary orbit scape is that many rails playback module (belongs to according to the opc synch command being drawn to geo-stationary orbit
In global command) generate on geo-stationary orbit in advance control the synchronous track scape of each target mechanical arm for carrying out the overall situation;
Above-mentioned speed track scape is many rails playback module according to opc general speed order (belonging to global command) being drawn to speed track
The track scape controlling each target mechanical arm speed for carrying out the overall situation generating on speed track in advance;Above-mentioned robot
Track scape is that many rails playback module generates in advance according to the robot label being drawn to robot track in robot track
For identifying the track scape of each target mechanical arm;Above-mentioned order track scape is many rails playback module according to being drawn to order rail
The control command material in road in advance on order track generate for the track scape that each target mechanical arm is controlled.On
The remote media scape stated is that many rails playback module is dragged from remote media server according to by remote media editor's external interface
Drag to the remote media material of remote media track (as local audio material, local video material etc.) in advance in remote media rail
The remote media scape generating on road.
In the embodiment of the present invention, what order track generated can for the track scape that each target mechanical arm is controlled
For controlling angle, direction of rotation of the rotation of each target mechanical arm etc..
In the embodiment of the present invention, above-mentioned robot track can be a plurality of machine of the quantity customization according to target mechanical arm
People's track, each robot track can be placed the corresponding target robot label (preselector as target mechanical arm
Number wait label);Wherein, a plurality of robot track is parallel to each other, and the corresponding target machine placed in a plurality of robot track
Device people's label (as target mechanical arm preselector number wait label) align on a timeline, such that it is able to realize to be introduced to wave
The parallel control of a fairly large number of mechanical arm in the performance sites such as platform, exhibition room, improves control efficiency such that it is able to more preferable.
104th, opc module calls described startup track scape, described synchronous rail by function interface from many rails playback module
Road scape, described speed track scape, described robot track scape, described order track scape and described remote media scape.
105th, opc module carries out timing with the timing code of outside periodically input for starting point, and reaches many rails in timing and return
During the duration that the full-time pattern of amplification module setting specifies, by the described startup track scape calling, described geo-stationary orbit scape, described speed
Degree track scape, described order track scape and described remote media scape are sent to described robot track scape by opc server
The plc equipment of each target mechanical arm described being identified, so that the plc equipment of each target mechanical arm described is with described startup
Track scape, described geo-stationary orbit scape, described speed track scape and described order track scape are according to each to corresponding mesh
Mark mechanical arm is controlled, and drives and each play described remote media scape to corresponding target mechanical arm simultaneously.
Wherein, the plc equipment of each target mechanical arm is with described startup track scape, described geo-stationary orbit scape, described speed
Track scape and described order track scape are foundation, to each corresponding target mechanical arm is carried out starting control, Synchronization Control,
Speed controlling and order control the corresponding control of material (such as rotating counterclockwise specified duration).
As a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, can also carry out following step
Rapid:
Described opc module detects that what user was directed to any one corresponding monitoring box of target mechanical arm touches operation, and responds
Described touching operates by the robot detail parameters of any one target mechanical arm described in described opc server monitors, described machine
Device people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total operation
Time, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, Bu Xuxiu
Change;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
As a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, opc module detects user
For any one corresponding monitoring box of target mechanical arm touch operation after, and touch operation described in response by described
Before the robot detail parameters of any one target mechanical arm described in opc server monitors, can also carry out following steps:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described people
With the multiple different figure of array way sequencing display on machine interactive interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine weight
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 relation of the plurality of different figure;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described sequence
The unique tags of the corresponding template fingerprint feature of rule whether with any one target mechanical arm described corresponding template fingerprint feature
Unique tags identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment is included respectively to the described image touching fingerprint image
Segmentation, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Described input refinement fingerprint image takes the fingerprint minutiae point, and described input refinement fingerprint image is carried out with
Track, and extract the sampled point on crestal line in described input refinement fingerprint image, and extract described 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, build the fingerprint minutiae local in input fingerprint characteristic
Direction describes;
Fingerprint minutiae according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Local direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is referred to any one corresponding template of target mechanical arm described
The similarity between fingerprint minutiae in stricture of vagina feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution
The step by the robot detail parameters of any one target mechanical arm described in described opc server monitors for the operation.
Obviously, implement above-mentioned embodiment, only the plurality of different after pre-selection is stored with user's rearrangement
The ordering rule corresponding template fingerprint feature of figure, and the unique tags of this ordering rule corresponding template fingerprint feature are
Input that is identical with the unique tags of any one target mechanical arm described corresponding template fingerprint feature and touching fingerprint image
Fingerprint minutiae in fingerprint characteristic and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature
Between similarity when exceeding predetermined threshold value, just execute and touch operation described in described response and pass through described opc server monitors
The step of the robot detail parameters of any one target mechanical arm described, monitors any one mesh described such that it is able to significant raising
The safety of the robot detail parameters of mark mechanical arm, prevents the robot detail parameters of any one target mechanical arm described non-
The data leak that method user wantonly inquires about and leads to.
More preferably, as a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, opc module exists
After judging that fingerprint minutiae similarity exceedes predetermined threshold value, and serviced by described opc touching operation described in response
Before device monitors the robot detail parameters of any one target mechanical arm described, following steps can also be first carried out:
Detect whether described opc server binds the robot allowing to pass through described opc server monitors mechanical arm detailed
The unique identities label of the license user of thin parameter;
If binding have described license user unique identities label, with described license user unique identities label be according to
According to, inquire about from data base described license user unique identities label corresponding license user fingerprints feature;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint
Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature
Depending on license request, described supervision license request includes the label of any one target mechanical arm described;Alternatively, if described input
Fingerprint characteristic is not matched that with described license user fingerprints feature, then using to the corresponding license of described license user fingerprints feature
Family sends before monitoring license request, may further determine that described input fingerprint characteristic with described license user fingerprints feature is
No belong to same user collection charge-coupled in fingerprint characteristic, if belonging to then it is assumed that the user that belongs to of described input fingerprint characteristic
Mutually familiar with the license user belonging to described license user fingerprints feature, now can be to described license user fingerprints feature pair
The license user answering sends and monitors license request, disturbs such that it is able to permit that user prevents strange user;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify institute
State and monitor the permission permitting the reception time agreeing to response whether to be located at described opc server binding by described opc server
Monitor in the license access time section of robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touch operation described in the described response of execution logical
The step crossing the robot detail parameters of any one target mechanical arm described in described opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at
In described license access time section;If current time is located in described license access time section, described in the described response of execution
Touch the step operating by the robot detail parameters of any one target mechanical arm described in described opc server monitors.Wherein,
Described input fingerprint characteristic and described license user fingerprints feature match and use including described input fingerprint characteristic and described license
There is pair relationhip between the fingerprint characteristic of family, and described license user fingerprints feature mould corresponding with any one mechanical arm described
Plate fingerprint characteristic can be different.
Obviously, implement above-mentioned embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
Ordering rule corresponding template fingerprint feature, and the unique tags of this ordering rule corresponding template fingerprint feature again with institute
State any one target mechanical arm corresponding template fingerprint feature unique tags are identical and input fingerprint that touch fingerprint image
Between fingerprint minutiae in feature and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature
Similarity when exceeding predetermined threshold value, only allow the license user of opc server binding or being permitted through the binding of opc server
Can user license other users permit user-defined license access time section, could pass through described in opc server monitors
The robot detail parameters of any one target mechanical arm, such that it is able to realize through opc server and any one target machine described
The robot detail parameters of any one target mechanical arm described in opc server monitors after the dual license of tool arm, could be passed through,
Such that it is able to the safety of the significant robot detail parameters improving and monitoring any one target mechanical arm described, prevent described appointing
The data leak that the robot detail parameters of one target mechanical arm are wantonly inquired about and led to by disabled user.
More preferably, as a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, can also wrap
Include following steps:
Described opc module detects that user is directed to the global monitoring instruction of all target mechanical arm inputs, and responds described complete
The robot global parameter by all target mechanical arms of described opc server monitors for office's monitoring instruction, described robot global
Parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need by described opc
Server judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because
The setting of speed can only carry out carrying out speed setting to each target mechanical arm by global speed setting simultaneously, when all targets
The nonsynchronous situation of mechanical arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
More preferably, in the Mechanical arm control method described by Fig. 1, described opc module detection user is directed to all targets
After the global monitoring instruction of mechanical arm input, and described opc server monitors institute is passed through in response described global monitoring instruction
Before having the robot global parameter of target mechanical arm, methods described also includes:
Detect whether described opc server binds the machine allowing by all mechanical arms of described opc server monitors
The control platform of people's global parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities of user with described control platform
Label is foundation, inquires about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute
State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user;If identical,
The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution
The step of parameter.
Obviously, implement above-mentioned embodiment, when the instruction of described global monitoring includes key to be verified, and the described overall situation
The key described to be verified that monitoring instruction includes is owned by described opc server monitors with the permission of opc server binding
The control platform of the robot global parameter of mechanical arm manage user the corresponding unique legitimate secret of unique tags identical when, Cai Nengtong
Cross the robot global parameter of all target mechanical arms of described opc server monitors, monitor own such that it is able to significant raising
The safety of the robot global parameter of target mechanical arm, prevents the robot global parameter of all target mechanical arms from illegally being used
The data leak that family is wantonly inquired about and led to.
More preferably, in the Mechanical arm control method described by Fig. 1, described opc module is returned from many rails by function interface
Described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot track scape, institute is called in amplification module
Before stating order track scape and described remote media scape, methods described is further comprising the steps of:
The edit instruction to the pregenerated track scape of tracks multiple in many rails playback module of detection user input, and respond
Described edit instruction enters edlin to track scape, and wherein, editor includes binding, unbinds, left-justify, isometric, mouse, region are selected
Select, shield, deleting, replicating, pasting, cancelling, recovering, labelling, removing, upper one, next and setting, wherein:
1) bind: multiple scapes are bound together, as an entirety, execution is including moving, deleting for the scape of binding
Come into force during operation simultaneously;
2) unbind: will be unbinding for two scapes;
3) left-justify: choose multiple scapes, the scape of high order end, as target, the scape chosen is carried out left-justify with view;
4) isometric: to choose multiple scapes of same type, with last scape as target, the scape chosen is carried out isometric behaviour
Make;
5) mouse: when selecting other functions, other functions will be made to lose efficacy, mouse state need to be switched to;
6) regional choice: regional frame chooses corresponding track scape;
7) shield: shielding is mutually done something for the occasion so as to lose efficacy;
8) delete: click on and delete button, be switched to deletion state, click on scape to be deleted, you can delete scape;
9) replicate: choose scape to be replicated, replicated;
10) paste: the scape of duplication is pasted;
11) cancel: current operation is cancelled a upper mode of operation;
12) recover: current operation is returned to next mode of operation;
13) labelling: the moment on a timeline does corresponding labelling;
14) remove: all labellings on checkout time axle;
15) upper one: jump to a upper mark position of time shafts;
16) next: to jump to next mark position on time shafts;
17) arrange: eject robot setting interface, the current engineering of setting allows the mechanical arm using and mechanical arm to allow to make
Program number.
More preferably, in the Mechanical arm control method described by Fig. 1, methods described is further comprising the steps of:
The track attribute setting instruction to track inputs multiple in many rails playback module for the detection user, and respond described track
Attribute setting instruction is configured to the track attribute of the plurality of track, wherein: track attribute can include track name, rail
Road locking, track closing, track scape list, track scape operation (duplication, deletion, positioning, renaming) etc..
As a kind of optional embodiment, in detection user is to many rails playback module, the track of multiple track inputs belongs to
Property setting instruction after, can according to the setting frequency of the track attribute of the plurality of track counting in advance from high in the end
Sequentially, the track attribute of the plurality of track is ranked up, consequently facilitating user's track attribute higher to setting frequency enters
Row is quick to be arranged.
Obviously, implement Fig. 1 described by Mechanical arm control method, can effectively to be introduced to stage, exhibition room etc. performance
A fairly large number of mechanical arm in place carries out centralized Control, such that it is able to improve to being introduced to the performance sites such as stage, exhibition room
In a fairly large number of mechanical arm control efficiency.Further, since it is permissible region generation voice signal residing for mechanical arm is detected
It is to speak and cause after spectators enter target mechanical arm region, therefore, implement the mechanical arm controlling party described by Fig. 1
Method, only spectators enter target mechanical arm region and just concentrate when speaking perform field to being introduced to stage, exhibition room etc.
In each target mechanical arm be controlled, such that it is able to reduce to the quantity being introduced in the performance sites such as stage, exhibition room
The power consumption that more mechanical arm is brought when being controlled.
Embodiment two
Refer to Fig. 2, Fig. 2 is the mechanical arm that a kind of remote media disclosed in the embodiment of the present invention is combined with speech detection
The structural representation of control station.As shown in Fig. 2 this mechanical arm control station may comprise steps of:
Opc module, the instruction message that each mechanical arm being located at performance site zones of different for detection reports, and right
The content of described instruction message is identified, if the content of described instruction message shows that described mechanical arm detects described mechanical arm
Residing region produces voice signal, using described mechanical arm as target mechanical arm;
Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting in advance
Generate on track for carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for
Carry out the overall geo-stationary orbit scape controlling each target mechanical arm synchronous, speed track generates and is used for carrying out overall situation control respectively
The speed track scape of individual target mechanical arm speed, generates the robot for identifying each target mechanical arm in robot track
Track scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using passing through
The remote media material that remote media editor's external interface obtains from remote media server generates on remote media track
Remote media scape;
Described opc module, is additionally operable to call described startup track scape, described from many rails playback module by function interface
Geo-stationary orbit scape, described speed track scape, described robot track scape, described order track scape and described remote media scape;
Timing is carried out for starting point with the timing code of outside periodically input, and reaches the full-time pattern of many rails playback module setting in timing
During the duration of regulation, by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described order rail
Road scape and described remote media scape are sent to, by opc server, each target described that described robot track scape is identified
The plc equipment of mechanical arm, so that the plc equipment of each target mechanical arm described is with described startup track scape, described geo-stationary orbit
Scape, described speed track scape and described order track scape are according to being each controlled to corresponding target mechanical arm, and
Drive and each described remote media scape is play to corresponding target mechanical arm simultaneously.
As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:
Described opc module, be additionally operable to detect user be directed to any one corresponding monitoring box of target mechanical arm touch operation,
And described in responding, touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors,
Described robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and
Total run time, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, Bu Xuxiu
Change;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:
Described opc module be additionally operable to detection user be directed to any one corresponding monitoring box of target mechanical arm touch operation
Afterwards, and response described in touch operation detailed by the robot of any one target mechanical arm described in described opc server monitors
Before thin parameter, execution is following to be operated:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described people
With the multiple different figure of array way sequencing display on machine interactive interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine weight
The ordering rule of the plurality of different figure after new sort;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described sequence
The unique tags of the corresponding template fingerprint feature of rule whether with any one target mechanical arm described corresponding template fingerprint feature
Unique tags identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment is included respectively to the described image touching fingerprint image
Segmentation, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Described input refinement fingerprint image takes the fingerprint minutiae point, and described input refinement fingerprint image is carried out with
Track, and extract the sampled point on crestal line in described input refinement fingerprint image, and extract described 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, build the fingerprint minutiae local in input fingerprint characteristic
Direction describes;
Fingerprint minutiae according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Local direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is referred to any one corresponding template of target mechanical arm described
The similarity between fingerprint minutiae in stricture of vagina feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution
The robot detail parameters by any one target mechanical arm described in described opc server monitors for the operation.
Obviously, implement above-mentioned embodiment, only the plurality of different after pre-selection is stored with user's rearrangement
The ordering rule corresponding template fingerprint feature of figure, and the unique tags of this ordering rule corresponding template fingerprint feature are
Input that is identical with the unique tags of any one target mechanical arm described corresponding template fingerprint feature and touching fingerprint image
Fingerprint minutiae in fingerprint characteristic and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature
Between similarity when exceeding predetermined threshold value, just execute and touch operation described in described response and pass through described opc server monitors
The step of the robot detail parameters of any one target mechanical arm described, monitors any one mesh described such that it is able to significant raising
The safety of the robot detail parameters of mark mechanical arm, prevents the robot detail parameters of any one target mechanical arm described non-
The data leak that method user wantonly inquires about and leads to.
As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:
Described opc module is after judging that fingerprint minutiae similarity exceedes predetermined threshold value, and is responding described touching
And operation by the robot detail parameters of any one target mechanical arm described in described opc server monitors before, also execute with
Lower operation:
Detect whether described opc server binds the robot allowing to pass through described opc server monitors mechanical arm detailed
The unique identities label of the license user of thin parameter;
If binding have described license user unique identities label, with described license user unique identities label be according to
According to, inquire about from data base described license user unique identities label corresponding license user fingerprints feature;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint
Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature
Depending on license request, described supervision license request includes the label of any one target mechanical arm described;Alternatively, if described input
Fingerprint characteristic is not matched that with described license user fingerprints feature, then using to the corresponding license of described license user fingerprints feature
Family sends before monitoring license request, may further determine that described input fingerprint characteristic with described license user fingerprints feature is
No belong to same user collection charge-coupled in fingerprint characteristic, if belonging to then it is assumed that the user that belongs to of described input fingerprint characteristic
Mutually familiar with the license user belonging to described license user fingerprints feature, now can be to described license user fingerprints feature pair
The license user answering sends and monitors license request, disturbs such that it is able to permit that user prevents strange user;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify institute
State and monitor the permission permitting the reception time agreeing to response whether to be located at described opc server binding by described opc server
Monitor in the license access time section of robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touch operation described in the described response of execution logical
The step crossing the robot detail parameters of any one target mechanical arm described in described opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at
In described license access time section;If current time is located in described license access time section, described in the described response of execution
Touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors.Wherein, described defeated
Enter fingerprint characteristic to match including described input fingerprint characteristic and described license user fingerprints with described license user fingerprints feature
There is pair relationhip between feature, and described license user fingerprints feature and any one corresponding template of target mechanical arm described
Fingerprint characteristic can be different.
Obviously, implement above-mentioned embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
Ordering rule corresponding template fingerprint feature, and the unique tags of this ordering rule corresponding template fingerprint feature again with institute
State any one target mechanical arm corresponding template fingerprint feature unique tags are identical and input fingerprint that touch fingerprint image
Between fingerprint minutiae in feature and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature
Similarity when exceeding predetermined threshold value, only allow the license user of opc server binding or being permitted through the binding of opc server
Can user license other users permit user-defined license access time section, could pass through described in opc server monitors
The robot detail parameters of any one target mechanical arm, such that it is able to realize through opc server and any one target machine described
The robot detail parameters of any one target mechanical arm described in opc server monitors after the dual license of tool arm, could be passed through,
Such that it is able to the safety of the significant robot detail parameters improving and monitoring any one target mechanical arm described, prevent described appointing
The data leak that the robot detail parameters of one target mechanical arm are wantonly inquired about and led to by disabled user.
As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:
Described opc module is additionally operable to detect the global monitoring instruction that user is directed to all target mechanical arm inputs, and responds
The robot global parameter by all target mechanical arms of described opc server monitors for the described global monitoring instruction, described machine
People's global parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need by described opc
Server judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because
The setting of speed can only carry out carrying out speed setting to each target mechanical arm by global speed setting simultaneously, when all targets
The nonsynchronous situation of mechanical arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:
After described opc module detects the global monitoring instruction that user is directed to all target mechanical arm inputs, and response
Before the robot global parameter by all target mechanical arms of described opc server monitors for the described global monitoring instruction, also hold
Row is following to be operated:
Detect whether described opc server binds the machine allowing by all mechanical arms of described opc server monitors
The control platform of people's global parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities of user with described control platform
Label is foundation, inquires about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute
State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user;If identical,
The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution
Parameter.
Obviously, implement above-mentioned embodiment, when the instruction of described global monitoring includes key to be verified, and the described overall situation
The key described to be verified that monitoring instruction includes is owned by described opc server monitors with the permission of opc server binding
The control platform of the robot global parameter of mechanical arm manage user the corresponding unique legitimate secret of unique tags identical when, Cai Nengtong
Cross the robot global parameter of all target mechanical arms of described opc server monitors, monitor own such that it is able to significant raising
The safety of the robot global parameter of target mechanical arm, prevents the robot global parameter of all target mechanical arms from illegally being used
The data leak that family is wantonly inquired about and led to.
More preferably, in the mechanical arm control station described by Fig. 2, described opc module is played back from many rails by function interface
Described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot track scape, described is called in module
Before order track scape and described remote media scape, opc module can also carry out following operation:
The edit instruction to the pregenerated track scape of tracks multiple in many rails playback module of detection user input, and respond
Described edit instruction enters edlin to track scape, and wherein, editor includes binding, unbinds, left-justify, isometric, mouse, region are selected
Select, shield, deleting, replicating, pasting, cancelling, recovering, labelling, removing, upper one, next and setting, wherein:
1) bind: multiple scapes are bound together, as an entirety, execution is including moving, deleting for the scape of binding
Come into force during operation simultaneously;
2) unbind: will be unbinding for two scapes;
3) left-justify: choose multiple scapes, the scape of high order end, as target, the scape chosen is carried out left-justify with view;
4) isometric: to choose multiple scapes of same type, with last scape as target, the scape chosen is carried out isometric behaviour
Make;
5) mouse: when selecting other functions, other functions will be made to lose efficacy, mouse state need to be switched to;
6) regional choice: regional frame chooses corresponding track scape;
7) shield: shielding is mutually done something for the occasion so as to lose efficacy;
8) delete: click on and delete button, be switched to deletion state, click on scape to be deleted, you can delete scape;
9) replicate: choose scape to be replicated, replicated;
10) paste: the scape of duplication is pasted;
11) cancel: current operation is cancelled a upper mode of operation;
12) recover: current operation is returned to next mode of operation;
13) labelling: the moment on a timeline does corresponding labelling;
14) remove: all labellings on checkout time axle;
15) upper one: jump to a upper mark position of time shafts;
16) next: to jump to next mark position on time shafts;
17) arrange: eject robot setting interface, the current engineering of setting allows the mechanical arm using and mechanical arm to allow to make
Program number.
More preferably, in the mechanical arm control station described by Fig. 2, opc module can also carry out following operation:
The track attribute setting instruction to track inputs multiple in many rails playback module for the detection user, and respond described track
Attribute setting instruction is configured to the track attribute of the plurality of track, wherein: track attribute can include track name, rail
Road locking, track closing, track scape list, track scape operation (duplication, deletion, positioning, renaming) etc..
As a kind of optional embodiment, in detection user is to many rails playback module, the track of multiple track inputs belongs to
Property setting instruction after, opc module can according to the setting frequency of the track attribute of the plurality of track counting in advance from
High order on earth, is ranked up to the track attribute of the plurality of track, consequently facilitating user's rail higher to setting frequency
Road attribute is quickly arranged.
In the embodiment of the present invention, mechanical arm control station may also include many rails curtain field module, wherein, many rails playback module
The duration that full-time pattern specifies can be called from the module of many rails curtain field to arrange as many rails playback module by function interface
The duration that full-time pattern specifies.
In the embodiment of the present invention, mechanical arm control station is also provided with controlling editor module, controls editor module permissible
For editor control order material, editor control order material node and carry out equipment control and (as mechanical arm tag control, add
Plus tcp equipment, server address setting) etc. operation.
Obviously, implement Fig. 2 described by mechanical arm control station, can effectively to be introduced to stage, exhibition room etc. performance field
In a fairly large number of mechanical arm carry out centralized Control, such that it is able to improve to being introduced in the performance sites such as stage, exhibition room
A fairly large number of mechanical arm control efficiency.Further, since region generation voice signal residing for mechanical arm is detected can be
Spectators speak after entering target mechanical arm region and cause, and therefore, implement the mechanical arm control station described by Fig. 2, only
Have spectators enter target mechanical arm region and when speaking just concentration to being introduced in the performance sites such as stage, exhibition room
Each target mechanical arm is controlled, a fairly large number of in the performance sites such as stage, exhibition room to being introduced to such that it is able to reduce
The power consumption brought when mechanical arm is controlled.
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
Completed with the hardware instructing correlation by program, this program can be stored in a computer-readable recording 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 programmableread-only memory, otprom), the electronics formula of erasing can make carbon copies read only memory, read-only optical disc
(compact disc read-only memory, cd-rom) or other disk storages, disk memory, magnetic tape storage,
Or can be used in carrying or data storage any other medium computer-readable.
The mechanical arm control station that above remote media a kind of disclosed in the embodiment of the present invention combined with speech detection and
Method is described in detail, and specific case used herein is set forth to the principle of the present invention and embodiment, with
The explanation of upper embodiment is only intended to help and understands the method for the present invention and its core concept;General simultaneously for this area
Technical staff, according to the thought of the present invention, all will change in specific embodiments and applications, in sum,
This specification content should not be construed as limitation of the present invention.
Claims (12)
1. the Mechanical arm control method that a kind of remote media is combined with speech detection is it is characterised in that include:
The detection of opc module is located at the instruction message that each mechanical arm of performance site zones of different reports, and to described instruction
The content of message is identified, if the content of described instruction message shows that described mechanical arm detects region residing for described mechanical arm
Produce voice signal, using described mechanical arm as target mechanical arm;
Many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module generates in advance on starting track
For carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out overall situation control
Make the synchronous geo-stationary orbit scape of each target mechanical arm, speed track generates and is used for carrying out each target machinery of overall situation control
The speed track scape of arm speed, generates the robot track scape for identifying each target mechanical arm in robot track,
Order track scape for being controlled to each target mechanical arm is generated on order track, and compiles using by remote media
The remote media material that volume external interface obtains from remote media server generates remote media scape on remote media track;
Opc module calls described startup track scape, described geo-stationary orbit scape, described by function interface from many rails playback module
Speed track scape, described robot track scape, described order track scape and described remote media scape;And with outside periodicity
The timing code of input is that starting point carries out timing, and reaches when the full-time pattern that described many rails playback module arranges specifies in timing
When long, by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described order track scape and
Described remote media scape is sent to, by opc server, each target mechanical arm described that described robot track scape is identified
Plc equipment, so that the plc equipment of each target mechanical arm described is with described startup track scape, described geo-stationary orbit scape, described speed
Degree track scape and described order track scape are according to each right to being each controlled to corresponding target mechanical arm, and driving
Corresponding target mechanical arm plays described remote media scape simultaneously.
2. Mechanical arm control method according to claim 1 is it is characterised in that methods described also includes:
Described opc module detects that what user was directed to any one corresponding monitoring box of target mechanical arm touches operation, and responds described
Touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors, described robot
When detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and always run
Between, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, mustn't be changed;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
3. Mechanical arm control method according to claim 2 is it is characterised in that described opc module detection user is directed to and appoints
The corresponding monitoring box of one target mechanical arm touch operation after, and touch operation described in response and serviced by described opc
Before device monitors the robot detail parameters of any one target mechanical arm described, methods described also includes:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described man-machine friendship
Mutually with the multiple different figure of array way sequencing display on interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine and again arrange
The ordering rule of the plurality of different figure after sequence;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described ordering rule
The unique tags of corresponding template fingerprint feature whether with any one target mechanical arm described corresponding template fingerprint feature only
One label is identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment includes respectively the described image touching fingerprint image being divided
Cut, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Take the fingerprint in described input refinement fingerprint image minutiae point, and described input refinement fingerprint image is tracked,
And extract the sampled point that described input refines on crestal line in fingerprint image, and the sampling extracting described input refinement 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, build the fingerprint minutiae local direction in input fingerprint characteristic
Description;
Fingerprint minutiae local according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is special with any one corresponding template fingerprint of target mechanical arm described
Similarity between the fingerprint minutiae levied, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching operation described in the described response of execution
Step by the robot detail parameters of any one target mechanical arm described in described opc server monitors.
4. Mechanical arm control method according to claim 3 is it is characterised in that judging that fingerprint minutiae similarity is super
After crossing predetermined threshold value, and touching operation described in response by any one target machinery described in described opc server monitors
Before the robot detail parameters of arm, methods described also includes:
Detect whether described opc server is bound to allow to join in detail by the robot of described opc server monitors mechanical arm
The unique identities label of the license user of number;
If binding has the unique identities label of described license user, with the unique identities label of described license user as foundation,
The unique identities label corresponding license user fingerprints feature of described license user is inquired about from data base;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint characteristic
Do not match that with described license user fingerprints feature, send supervision to described license user fingerprints feature corresponding license user and permitted
Can ask, the described label monitoring that license request includes any one target mechanical arm described;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify described prison
Described opc server monitors are passed through in the permission whether the reception time agreeing to response depending on license is located at described opc server binding
In the license access time section of the robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touches operation described in the described response of execution and pass through institute
The step stating the robot detail parameters of any one target mechanical arm described in opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, it is described whether identification current time is located at
In license access time section;If current time is located in described license access time section, touch described in the described response of execution
The step by the robot detail parameters of any one target mechanical arm described in described opc server monitors for the operation.
5. the Mechanical arm control method according to claim 2,3 or 4 is it is characterised in that methods described also includes:
Described opc module detects that user is directed to the global monitoring instruction of all target mechanical arm inputs, and responds described overall situation prison
The robot global parameter by all target mechanical arms of described opc server monitors for the control instruction, described robot global parameter
Including robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need to service by described opc
Device judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because speed
Setting can only by global speed setting carry out carrying out speed setting to each target mechanical arm simultaneously, when all targets machinery
The nonsynchronous situation of arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
6. Mechanical arm control method according to claim 5 is it is characterised in that described opc module detection user is directed to institute
After having the global monitoring instruction of target mechanical arm input, and described opc server is passed through in response described global monitoring instruction
Before monitoring the robot global parameter of all target mechanical arms, methods described also includes:
Detect whether described opc server binds the robot allowing to pass through all mechanical arms of described opc server monitors complete
The control platform of office's parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities label of user with described control platform
It is foundation, inquire about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in the instruction of described global monitoring and whether include key to be verified, if the instruction of described global monitoring include described in treat
Check key, contrasts described key to be verified whether identical with the unique key of described control platform management user;If identical, execution
The robot global parameter by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction
Step.
7. the mechanical arm control station that a kind of remote media is combined with speech detection is it is characterised in that include:
Opc module, the instruction message that each mechanical arm being located at performance site zones of different for detection reports, and to described
Indicate that the content of message is identified, if the content of described instruction message shows that described mechanical arm detects residing for described mechanical arm
Region produces voice signal, using described mechanical arm as target mechanical arm;
Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting track in advance
On generate for carry out the overall situation control each target mechanical arm start startup track scape, geo-stationary orbit generates and is used for carrying out
The overall situation controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates and be used for carrying out the overall situation each mesh of control on speed track
The speed track scape of mark mechanical arm speed, generates the robot track for identifying each target mechanical arm in robot track
Scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by long-range
The remote media material that media editing external interface obtains from remote media server generates remotely on remote media track
Media scape;
Described opc module, is additionally operable to call described startup track scape, described synchronization from many rails playback module by function interface
Track scape, described speed track scape, described robot track scape, described order track scape and described remote media scape;And
Timing is carried out for starting point with the timing code of outside periodically input, and reaches the full-time of described many rails playback module setting in timing
During the duration that pattern specifies, by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described life
Make track scape and described remote media scape by opc server be sent to that described robot track scape identified described each
The plc equipment of target mechanical arm, so that the plc equipment of each target mechanical arm described is with described startup track scape, described synchronization
Track scape, described speed track scape and described order track scape are according to each controlling to corresponding target mechanical arm
System, and drive and each described remote media scape is play to corresponding target mechanical arm simultaneously.
8. mechanical arm control station according to claim 7 it is characterised in that:
Described opc module, be additionally operable to detect user be directed to any one corresponding monitoring box of target mechanical arm touch operation, and ring
The robot detail parameters operating by any one target mechanical arm described in described opc server monitors are touched described in answering, described
Robot detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total fortune
The row time, wherein:
1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °;
2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, mustn't be changed;
3) it is currently running program number described in: include the current program number running of target mechanical arm;
4) described current run time: include the target mechanical arm current time run;
5) described total run time: include the total run time of target mechanical arm.
9. mechanical arm control station according to claim 8 it is characterised in that: described opc module be additionally operable to detection user
For any one corresponding monitoring box of target mechanical arm touch operation after, and touch operation described in response by described
Before the robot detail parameters of any one target mechanical arm described in opc server monitors, execution is following to be operated:
Touching pressure and touching fingerprint of operation generation is touched described in detection;
Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described man-machine friendship
Mutually with the multiple different figure of array way sequencing display on interface;
After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine and again arrange
The ordering rule of the plurality of different figure after sequence;
Judging whether the described ordering rule corresponding template fingerprint feature that is stored with, if be stored with, judging described ordering rule
The unique tags of corresponding template fingerprint feature whether with any one target mechanical arm described corresponding template fingerprint feature only
One label is identical, if identical, according to described touch fingerprint generate touch fingerprint image;
Pretreatment is done to the described fingerprint image that touches, described pretreatment includes respectively the described image touching fingerprint image being divided
Cut, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image;
Take the fingerprint in described input refinement fingerprint image minutiae point, and described input refinement fingerprint image is tracked,
And extract the sampled point that described input refines on crestal line in fingerprint image, and the sampling extracting described input refinement 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, build the fingerprint minutiae local direction in input fingerprint characteristic
Description;
Fingerprint minutiae local according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature
Direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is special with any one corresponding template fingerprint of target mechanical arm described
Similarity between the fingerprint minutiae levied, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching operation described in the described response of execution
Robot detail parameters by any one target mechanical arm described in described opc server monitors.
10. mechanical arm control station according to claim 9 is it is characterised in that described opc module is judging details in fingerprint
After point similarity exceedes predetermined threshold value, and touching operation described in response by arbitrary described in described opc server monitors
Before the robot detail parameters of individual target mechanical arm, also execution is following operates:
Detect whether described opc server is bound to allow to join in detail by the robot of described opc server monitors mechanical arm
The unique identities label of the license user of number;
If binding has the unique identities label of described license user, with the unique identities label of described license user as foundation,
The unique identities label corresponding license user fingerprints feature of described license user is inquired about from data base;
Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint characteristic
Do not match that with described license user fingerprints feature, send supervision to described license user fingerprints feature corresponding license user and permitted
Can ask, the described label monitoring that license request includes any one target mechanical arm described;
Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify described prison
Described opc server monitors are passed through in the permission whether the reception time agreeing to response depending on license is located at described opc server binding
In the license access time section of the robot detail parameters of mechanical arm;
If the described reception time is located in described license access time section, touches operation described in the described response of execution and pass through institute
The step stating the robot detail parameters of any one target mechanical arm described in opc server monitors;
If described input fingerprint characteristic is matched with described license user fingerprints feature, it is described whether identification current time is located at
In license access time section;If current time is located in described license access time section, touch described in the described response of execution
The robot detail parameters by any one target mechanical arm described in described opc server monitors for the operation.
Mechanical arm control station described in 11. according to Claim 8,9 or 10 it is characterised in that:
Described opc module is additionally operable to detect the global monitoring instruction that user is directed to all target mechanical arm inputs, and responds described
Global monitoring instructs the robot global parameter by all target mechanical arms of described opc server monitors, and described robot is complete
Office's parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:
1) described robot global speed: the global speed of display target mechanical arm;
2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need to service by described opc
Device judges display with plc equipment connection status;
3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because speed
Setting can only by global speed setting carry out carrying out speed setting to each target mechanical arm simultaneously, when all targets machinery
The nonsynchronous situation of arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.
12. mechanical arm control stations according to claim 11 are it is characterised in that described opc module detection user is directed to institute
After having the global monitoring instruction of target mechanical arm input, and described opc server is passed through in response described global monitoring instruction
Before monitoring the robot global parameter of all target mechanical arms, also execution is following operates:
Detect whether described opc server binds the robot allowing to pass through all mechanical arms of described opc server monitors complete
The control platform of office's parameter manages the unique tags of user;
If binding has described control platform to manage the unique identities label of user, manage the unique identities label of user with described control platform
It is foundation, inquire about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base;
Identify in the instruction of described global monitoring and whether include key to be verified, if the instruction of described global monitoring include described in treat
Check key, contrasts described key to be verified whether identical with the unique key of described control platform management user;If identical, execution
The robot global ginseng by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction
Number.
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