CN106363602B

CN106363602B - The mechanical arm console and method that human body infrared thermal imaging is combined with local media

Info

Publication number: CN106363602B
Application number: CN201610899302.6A
Authority: CN
Inventors: 李株亮; 黄庆杰; 黄石锋; 李志雄
Original assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Current assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2018-07-20
Anticipated expiration: 2036-10-14
Also published as: CN106363602A

Abstract

The mechanical arm console and method that human body infrared thermal imaging is combined with local media, in this method：Target mechanical arm detects that there are human body infrared thermal imagings for its region, OPC modules are called from more rail playback modules starts track scape, geo-stationary orbit scape, speed track scape, robot track scape, order track scape and local media scape, track scape will be started, geo-stationary orbit scape, speed track scape, order track scape and local media scape are sent to the PLC device for each target mechanical arm that robot track scape is identified by opc server, the PLC device of each target mechanical arm is to start track scape, geo-stationary orbit scape, speed track scape and order track scape are according to control respectively to corresponding target mechanical arm, and it drives and local media scape respectively is played simultaneously to corresponding target mechanical arm.Effectively centralized control is introduced to a fairly large number of mechanical arm in performance site, improves the control efficiency to a fairly large number of mechanical arm；Realize the synchronous control of local media and mechanical arm.

Description

The mechanical arm console and method that human body infrared thermal imaging is combined with local media

Technical field

The present invention relates to performance integration control technology field more particularly to a kind of human body infrared thermal imaging and local media knots The mechanical arm console and method of conjunction.

Background technology

Currently, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and posture) requires to be moved tool, to complete a certain industrial job requirements. In order to give the performance sites such as stage, exhibition room to export good service, mechanical arm is gradually introduced in the performance such as stage, exhibition room field. In practice, it has been found that as the mechanical arm being introduced into stage performance, display and demonstration market is more and more, how to being introduced to dance A fairly large number of mechanical arm in the performance sites such as platform, exhibition room carries out centralized control, is drilled with improving being introduced to stage, exhibition room etc. Go out the control efficiency of a fairly large number of mechanical arm in place, and how further to realize the same of local media and mechanical arm Step control is that the performance sites such as stage, exhibition room are badly in need of so as to export preferably service for performance sites such as stage, exhibition rooms The technical barrier of solution.

Invention content

The embodiment of the invention discloses a kind of mechanical arm console that human body infrared thermal imaging is combined with local media and sides Method effectively can carry out centralized control to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room, improve To being introduced to the control efficiency of a fairly large number of mechanical arm in the performance sites such as stage, exhibition room.

First aspect of the embodiment of the present invention discloses a kind of mechanical arm that human body infrared thermal imaging is combined with local media control Method, including：

OPC modules are established data communication with opc server by OPC agreements and are connect, the opc server by network with Data communication connection is established positioned at the PLC device of all mechanical arms of performance site different zones；

The OPC modules identify the instruction message that each described mechanical arm reports, if the instruction message show it is described When mechanical arm detects human body infrared thermal imaging in the region residing for the mechanical arm, using the mechanical arm as target machinery Arm；

More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are in advance on starting track It generates for carrying out the global startup track scape for controlling each target mechanical arm and starting, is generated on geo-stationary orbit complete for carrying out Office controls the geo-stationary orbit scape that each target mechanical arm synchronizes, and is generated on speed track and controls each target for carrying out the overall situation 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 each target mechanical arm on order track, and utilizes and pass through local Media editing external interface generates local matchmaker from the local media material obtained in local media host on local media track Body scape；

The OPC modules call the startup track scape, the synchronous rail by function interface from more rail playback modules Road scape, the speed track scape, the robot track scape, the order track scape and the local media scape；It will call The startup track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local media Scape is sent to the PLC device for each target mechanical arm that the robot track scape is identified by opc server, so that The PLC device of each target mechanical arm with the startup track scape, the geo-stationary orbit scape, the speed track scape and The order track scape is and to drive respectively to corresponding target machine according to respectively controlling corresponding target mechanical arm Tool arm plays the local media scape simultaneously.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes：

The OPC modules detection user touches operation for any one corresponding monitoring box of target mechanical arm, and responds The robot detail parameters touched operation and monitor any one target mechanical arm by the opc server, the machine Device people's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and total operation Time, wherein：

1) the manipulator shaft angle：6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter；

2) robot speed：Each target mechanical arm operation has the speed of itself, is only permitted display and checked, Bu Xuxiu Change；

3) described to be currently running program number：Including the currently running program number of target mechanical arm；

4) current run time：Including the target mechanical arm currently running time；

5) total run time：Including the total run time of target mechanical arm.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle To any one corresponding monitoring box of target mechanical arm touch operation after, and response described in touch operation pass through the OPC Before the robot detail parameters of any one target mechanical arm described in server monitors, the method further includes：

Touching of touching that operation generates described in detection and touches fingerprint at pressure；

Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people With figure that array way sequencing display is multiple and different on machine interactive interface；

After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined The ordering rule of the plurality of different figure after new sort；

Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with The unique tags template fingerprint feature whether corresponding with any one described target mechanical arm of the corresponding template fingerprint feature of rule Unique tags it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image；

The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image；

Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point；

Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local Direction describes；

According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic Local direction describes, and the fingerprint minutiae template corresponding with any one described target mechanical arm calculated in input fingerprint characteristic refers to The similarity between fingerprint minutiae in line feature, obtains fingerprint minutiae similarity；

Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing Operation monitors the step of robot detail parameters of any one target mechanical arm by the opc server.

As an alternative embodiment, in first aspect of the embodiment of the present invention, fingerprint minutiae phase is being judged After being more than predetermined threshold value like degree, and touches described in response operation and pass through any one described mesh of opc server monitoring Before the robot detail parameters for marking mechanical arm, the method further includes：

Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server The unique identities label of the license user of thin parameter；

If binding have it is described license user unique identities label, with it is described license user unique identities label be according to According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label；

Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature Depending on license request, the monitoring license request includes the label of any one mechanical arm；

If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server It monitors in the license access time section of the robot detail parameters of mechanical arm；

If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to The step of crossing the robot detail parameters of opc server monitoring any one target mechanical arm；

If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at In the license access time section；If current time is located in license access time section, execute described in the response Touch the step of operation monitors the robot detail parameters of any one target mechanical arm by the opc server.

The OPC modules detection user instructs for the global monitoring of all target mechanical arms input, and responds described complete Office's monitoring instruction monitors the robot global parameter of all target mechanical arms, the robot global by the opc server Parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein：

1) the robot global speed：The global speed of display target mechanical arm；

2) the PLC connection status：It is the connection status of PLC device and mechanical arm console, needs through the OPC Server judges to show with PLC device connection status；

3) the inconsistent alarm of the speed：The speed of all target mechanical arms should be consistent in operational process, because The setting of speed can only be arranged by global speed to be carried out being carried out at the same time speed setting to each target mechanical arm, when all targets There is a nonsynchronous situation of speed and just needs to carry out alarm in mechanical arm, and needs to stop the operation of target mechanical arm.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle After the global monitoring instruction of all target mechanical arms input, and the response global monitoring instruction is taken by the OPC Before business device monitors the robot global parameter of all target mechanical arms, the method further includes：

Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server The unique tags of the control platform management user of people's global parameter；

If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database；

Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified；If identical, Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server The step of parameter.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules are connect by function Before the track scape for calling multiple tracks to generate in more rail playback modules, the method further includes mouth：

The edit instruction input by user to the track scape that multiple tracks generate in more rail playback modules is detected, and responds institute Edit instruction is stated to track scape into edlin, wherein editor include binding, unbundlings, left-justify, isometric, mouse, regional choice, Shielding is deleted, is replicated, pasting, revocation, restoring, label, removing, one upper, next and setting, wherein：

1) it binds：Together by the binding of multiple scapes, the scape of binding as a whole, executes including mobile, deletion It comes into force simultaneously when operation；

2) it unbinds：Two scapes are unbinding；

3) left-justify：Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify；

4) isometric：The scape chosen is carried out isometric behaviour by the multiple scapes for choosing same type using the last one scape as target Make；

5) mouse：When selecting other functions, to make other disablers, mouse state need to be switched to；

6) regional choice：Regional frame chooses corresponding track scape；

7) it shields：Shielding is mutually done something for the occasion, its failure is made；

8) it deletes：Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape；

9) it replicates：The scape to be replicated is chosen, is replicated；

10) it pastes：The scape replicated is pasted；

11) it cancels：By current operation revocation to a upper mode of operation；

12) restore：Current operation is restored to next mode of operation；

13) it marks：Corresponding label is done at the time of on a timeline；

14) it removes：All labels on checkout time axis；

15) upper one：Jump to a upper mark position for time shaft；

16) next：Jump to next mark position on time shaft；

17) it is arranged：It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to make Program number.

Second aspect of the embodiment of the present invention discloses a kind of mechanical arm that human body infrared thermal imaging is combined with local media control Platform, including：

OPC modules, opc server and more rail playback modules, wherein the OPC modules by OPC agreements with it is described Opc server establishes data communication connection, and the opc server is organic by network and the institute positioned at performance site different zones The PLC device of tool arm establishes data communication connection；

The OPC modules, the instruction message that each described mechanical arm reports for identification, if the instruction message shows When the mechanical arm detects human body infrared thermal imaging in the region residing for the mechanical arm, using the mechanical arm as target machine Tool arm；

More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting in advance It is generated on track for carrying out the global startup track scape for controlling each target mechanical arm and starting, generates and be used on geo-stationary orbit The global geo-stationary orbit scape for controlling each target mechanical arm and synchronizing is carried out, is generated on speed track each for carrying out global control The speed track scape of a 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 each target mechanical arm on order track, and utilizes and pass through Local media editor external interface generates this from the local media material obtained in local media host on local media track Ground media scape；

The OPC modules are additionally operable to call the startup track scape, described from more rail playback modules by function interface Geo-stationary orbit scape, the speed track scape, the robot track scape, the order track scape and the local media scape； By the startup track scape of calling, the geo-stationary orbit scape, the speed track scape, the order track scape and described The PLC that ground media scape is sent to each target mechanical arm that the robot track scape is identified by opc server is set It is standby, so that the PLC device of each target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed rail Road scape and the order track scape are and to drive respectively to corresponding according to respectively controlling corresponding target mechanical arm Target mechanical arm simultaneously play the local media scape.

As an alternative embodiment, in second aspect of the embodiment of the present invention：

The OPC modules are additionally operable to detection user and touch operation for any one corresponding monitoring box of target mechanical arm, And the robot detail parameters that operation monitors any one target mechanical arm by the opc server are touched described in responding, The robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and Total run time, wherein：

5) total run time：Including the total run time of target mechanical arm.

The OPC modules are additionally operable to touch operation for any one corresponding monitoring box of target mechanical arm in detection user Later, and described in response it touches operation and monitors that the robot of any one target mechanical arm is detailed by the opc server Before thin parameter, following operation is executed：

Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing Operation monitors the robot detail parameters of any one target mechanical arm by the opc server.

The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch And operation by the opc server monitoring described in any one target mechanical arm robot detail parameters before, also execute with Lower operation：

If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at In the license access time section；If current time is located in license access time section, execute described in the response Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server.

The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all target mechanical arms, and respond The global monitoring instruction monitors the robot global parameter of all target mechanical arms, the machine by the opc server People's global parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein：

After the OPC modules detection user is for the global monitoring instruction of all target mechanical arms input, and response Before the global monitoring instruction monitors the robot global parameter of all target mechanical arms by the opc server, also hold The following operation of row：

Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified；If identical, Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server Parameter.

Compared with prior art, the embodiment of the present invention has following advantageous effect：

In the embodiment of the present invention, OPC modules can will detect human body infrared thermal imaging in the region residing for mechanical arm Mechanical arm as target mechanical arm, and called from more rail playback modules by function interface start track scape, geo-stationary orbit scape, Speed track scape, robot track scape, order track scape and local media scape, and by the startup track scape of calling, synchronization Track scape, speed track scape, order track scape and local media scape are sent to robot track scape by opc server and are marked The PLC device for each target mechanical arm known, so that the PLC device of each target mechanical arm is to start track scape, geo-stationary orbit Scape, speed track scape and order track scape are and to drive respective according to respectively controlling corresponding target mechanical arm Local media scape is played simultaneously to corresponding target mechanical arm.Obviously, implement the embodiment of the present invention, it can be effectively to being introduced to A fairly large number of mechanical arm in the performance sites such as stage, exhibition room carries out centralized control, to improve to being introduced to stage, exhibition room etc. The control efficiency of a fairly large number of mechanical arm in performance site；It can also realize the synchronous control of local media and mechanical arm, So as to export preferably service for performance site.Further, since detecting human body infrared heat in the region residing for mechanical arm Imaging can be that spectators enter caused by target mechanical arm region, therefore, implement the embodiment of the present invention, only in spectators Into just being concentrated when target mechanical arm region to each target mechanical arm for being introduced in the performance sites such as stage, exhibition room It is controlled, a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room is controlled so as to reduce When caused power consumption.

Description of the drawings

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is the mechanical arm controlling party that a kind of human body infrared thermal imaging disclosed by the embodiments of the present invention is combined with local media The flow diagram of method；

Fig. 2 is the mechanical arm console that a kind of human body infrared thermal imaging disclosed by the embodiments of the present invention is combined with local media Structural schematic diagram.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

The embodiment of the invention discloses a kind of mechanical arm console that human body infrared thermal imaging is combined with local media and sides Method effectively can carry out centralized control to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room, improve To being introduced to the control efficiency of a fairly large number of mechanical arm in the performance sites such as stage, exhibition room.Be combined below attached drawing into Row detailed description.

Embodiment one

Referring to Fig. 1, Fig. 1 is the machine that a kind of human body infrared thermal imaging disclosed by the embodiments of the present invention is combined with local media The flow diagram of tool arm control method.Wherein, the described Mechanical arm control methods based on infrared thermal imaging detection of Fig. 1 can To be applied to mechanical arm console.As shown in Figure 1, the Mechanical arm control method may comprise steps of：

101, OPC modules are established data communication with opc server by OPC agreements and are connect, and the opc server passes through net Network is established data communication with the PLC device of all mechanical arms positioned at performance site different zones and is connect.

In the embodiment of the present invention, OPC modules refer to the object connection and embedded (i.e. OLE for for process control Process Control) module, OPC modules may include that OPC controls and robot monitor two big functions.Opc server refers to RSLinx opc servers, OPC modules and opc server can be arranged in mechanical arm console, and OPC modules mainly pass through (i.e. Programmable Logic Controller may be programmed by the server of RSLinx OPC Server and the PLC of mechanical arm Logic controller) equipment carries out data interaction, and it is the interface module that mechanical arm console carries out mechanical arm control.

In the embodiment of the present invention, performance site may exist multiple and different regions, each region can be laid out a machine Tool arm.

102, OPC modules identify the instruction message that each mechanical arm reports, if the instruction message shows the mechanical arm When detecting human body infrared thermal imaging in the region residing for the mechanical arm, using the mechanical arm as target mechanical arm.

In the embodiment of the present invention, mechanical arm can carry out infrared thermal imaging detection to its region, and detect Instruction message can be reported to OPC moulds by its region there are when human body infrared thermal imaging by the PLC device of mechanical arm Block, wherein the instruction message is for showing that the mechanical arm detects human body infrared thermal imaging.Wherein, mechanical arm is to its location Domain carries out human body infrared thermal imaging detection：Mechanical arm can use photoelectric technology to the red of its region thermal radiation of body Outer specific band signal, and image and figure for human vision resolution ratio are converted the signal into, and further calculate Temperature value.

103, more rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are starting rail in advance Generated on road for carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for into The global geo-stationary orbit scape for controlling each target mechanical arm and synchronizing of row generates each for carrying out global control 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 each target mechanical arm on order track, and utilizes and pass through this Ground media editing external interface generates locally from the local media material obtained in local media host on local media track Media scape.

In the embodiment of the present invention, more rail playback modules can be arranged in mechanical arm console, and more rail playback modules Function interface is connect with OPC modules.Wherein, to be more rail playback modules start track according to being drawn to above-mentioned startup track scape OPC starts the overall situation that is used to carry out that order (belonging to global command) generates on starting track in advance and controls each target mechanical arm The track scape of startup；Above-mentioned geo-stationary orbit scape is that more rail playback modules (belong to according to the OPC synch commands for being drawn to geo-stationary orbit In global command) what is generated on geo-stationary orbit in advance controls the track scape of each target mechanical arm synchronization for carrying out the overall situation； Above-mentioned speed track scape is more rail playback modules according to the OPC general speeds order (belonging to global command) for being drawn to speed track The track scape for carrying out the global each target mechanical arm speed of control generated on speed track in advance；Above-mentioned robot Track scape is that more rail playback modules generate in robot track in advance according to the robot label for being drawn to robot track Track scape for identifying each target mechanical arm；Above-mentioned order track scape is more rail playback modules according to being drawn to order rail The track scape for being controlled each target mechanical arm that the control command material in road generates on order track in advance.On The local media scape stated is that more rail playback modules are pulled according to by local media editor external interface from local media host To local media track local media material (such as local audio material, local video material) in advance in local media track The local media scape of upper generation.

In the embodiment of the present invention, the track scape for being controlled each target mechanical arm generated on order track can For controlling the angle of each target mechanical arm rotation, the direction etc. of rotation.

In the embodiment of the present invention, above-mentioned robot track can be a plurality of machine customized according to the quantity of target mechanical arm People's track can place corresponding target robot label (such as preselector of target mechanical arm in each robot track Number equal labels)；Wherein, a plurality of robot track is mutually parallel, and the corresponding target machine placed in a plurality of robot track Device people label (the preselector label of such as target mechanical arm) is aligned on a timeline, so as to realize to being introduced to dance The parallel control of a fairly large number of mechanical arm in the performance sites such as platform, exhibition room, so as to preferably improve control efficiency.

103, OPC modules call the startup track scape, the synchronous rail by function interface from more rail playback modules Road scape, the speed track scape, the robot track scape, the order track scape and the local media scape.

104, OPC modules are by the startup track scape of calling, the geo-stationary orbit scape, the speed track scape, described Order track scape and the local media scape by opc server be sent to the robot track scape identified it is described each The PLC device of a target mechanical arm, so that the PLC device of each target mechanical arm is with the startup track scape, described same It is according to respectively being controlled to corresponding target mechanical arm to walk track scape, the speed track scape and the order track scape System, and drive and the local media scape respectively is played simultaneously to corresponding target mechanical arm.

Wherein, the PLC device of each target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed Track scape and the order track scape are foundation, to respectively to corresponding target mechanical arm carry out startup control, synchronous control, Speed control and the corresponding control (such as rotating counterclockwise specified duration) of order control material.

Wherein, in the corresponding entire curtain field list of curtain field list mode that more rail playback modules can be arranged for OPC modules The corresponding initial time in all fields under all curtains is as sending time, periodically by the startup track scape of calling, institute Geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape is stated to send by opc server To the PLC device for each target mechanical arm that the robot track scape is identified, so as to realize according to curtain field side Formula carrys out control machinery arm so that the control of mechanical arm can be matched with performance.

As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, following step can also be performed Suddenly：

5) total run time：Including the total run time of target mechanical arm.

As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules detect user For any one corresponding monitoring box of target mechanical arm touch operation after, and touch described in response operation pass through it is described Before the robot detail parameters of opc server monitoring any one target mechanical arm, following steps can also be performed：

After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined The ordering rule of the plurality of different figure after new sort；Wherein, the ordering rule of the plurality of different figure refers to The name placement relationship of the plurality of different figure；

Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are The unique tags of template fingerprint feature corresponding with any one described target mechanical arm are identical and touch the input of fingerprint image Between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in fingerprint characteristic Similarity when being more than predetermined threshold value, just execute and touched described in the response described in operation monitored by the opc server The step of robot detail parameters of any one target mechanical arm, so as to significantly improve any one described target machine of monitoring The safety of the robot detail parameters of tool arm prevents the robot detail parameters of any one target mechanical arm from illegally being used Data leak caused by family is inquired wantonly.

More preferably, as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules exist After judging that fingerprint minutiae similarity is more than predetermined threshold value, and touches described in response operation and serviced by the OPC Before the robot detail parameters of device monitoring any one target mechanical arm, following steps can also be first carried out：

Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature Depending on license request, the monitoring license request includes the label of any one target mechanical arm；Optionally, if the input Fingerprint characteristic is not matched that with the license user fingerprints feature, then is used to the corresponding license of the license user fingerprints feature Before family sends monitoring license request, it may further determine that the input fingerprint characteristic is characterized in the license user fingerprints The no fingerprint characteristic belonged to during same user's collection is combined, if belonged to, then it is assumed that the user that the input fingerprint characteristic belongs to Mutually it is familiar with the license user belonging to the license user fingerprints feature, it at this time can be to the license user fingerprints feature pair The license user answered sends monitoring license request, so as to permit user prevents strange user to disturb；

If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at In the license access time section；If current time is located in license access time section, execute described in the response Touch the step of operation monitors the robot detail parameters of any one target mechanical arm by the opc server.Wherein, The input fingerprint characteristic matches with the license user fingerprints feature to be used including the input fingerprint characteristic and the license There are pairing relationship between the fingerprint characteristic of family, and license user fingerprints feature mould corresponding with any one described mechanical arm Plate fingerprint characteristic can be different.

Obviously, implement the above embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement The corresponding template fingerprint feature of ordering rule, and the unique tags of the corresponding template fingerprint feature of the ordering rule again with institute The unique tags for stating the corresponding template fingerprint feature of any one target mechanical arm are identical and touch the input fingerprint of fingerprint image Between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in feature Similarity be more than predetermined threshold value when, only allow opc server bind license user or by opc server bind permitted Can the other users of user's license permitting user-defined license access time section, could be monitored by opc server described in The robot detail parameters of any one target mechanical arm, so as to realize by opc server and any one described target machine After the dual license of tool arm, the robot detail parameters of any one target mechanical arm could be monitored by opc server, So as to significantly improve the safety of the robot detail parameters of any one target mechanical arm described in monitoring, described appoint is prevented Data leak caused by the robot detail parameters of one target mechanical arm are inquired wantonly by disabled user.

More preferably, it as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, can also wrap Include following steps：

More preferably, in the Mechanical arm control method described in Fig. 1, the OPC modules detection user is directed to all targets After the global monitoring instruction of mechanical arm input, and the response global monitoring instruction monitors institute by the opc server Before having the robot global parameter of target mechanical arm, the method further includes：

Obviously, implement the above embodiment, when global monitoring instruction includes key to be verified, and the overall situation What the key to be verified and opc server that monitoring instruction includes were bound allows all by opc server monitoring When the corresponding unique legitimate secret of unique tags of the control platform management user of the robot global parameter of mechanical arm is identical, Cai Nengtong The robot global parameter that the opc server monitors all target mechanical arms is crossed, it is all so as to significantly improve monitoring 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 Data leak caused by family is inquired wantonly.

More preferably, in the Mechanical arm control method described in Fig. 1, the OPC modules are returned by function interface from more rails Before calling the track scape that multiple tracks generate in amplification module, the method is further comprising the steps of：

The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and is responded The edit instruction is to track scape into edlin, wherein editor includes that binding, unbundlings, left-justify, isometric, mouse, region are selected It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein：

2) it unbinds：Two scapes are unbinding；

6) regional choice：Regional frame chooses corresponding track scape；

9) it replicates：The scape to be replicated is chosen, is replicated；

10) it pastes：The scape replicated is pasted；

12) restore：Current operation is restored to next mode of operation；

13) it marks：Corresponding label is done at the time of on a timeline；

14) it removes：All labels on checkout time axis；

15) upper one：Jump to a upper mark position for time shaft；

16) next：Jump to next mark position on time shaft；

More preferably, in the Mechanical arm control method described in Fig. 1, the method is further comprising the steps of：

It detects user and instruction is arranged to the track attribute of multiple track inputs in more rail playback modules, and respond the track Attribute setting instruction is configured the track attribute of the multiple track, wherein：Track attribute may include track name, rail Road locking, track closing, the list of track scape, track scape operation (replicate, delete, positioning, renaming) etc..

As an alternative embodiment, the track category that multiple tracks input in detection user is to more rail playback modules Property setting instruction after, can according to the track attribute of the multiple track that has counted in advance setting frequency from high in the end Sequentially, the track attribute of the multiple track is ranked up, consequently facilitating user to setting the higher track attribute of frequency into Row quickly setting.

Obviously, implement Mechanical arm control method described in Fig. 1, it can be effectively to being introduced to the performances such as stage, exhibition room A fairly large number of mechanical arm in place carries out centralized control, so as 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 target mechanical arm detects that human body is red in its residing region Outer thermal imaging can be that spectators enter caused by target mechanical arm region, therefore, implement mechanical arm control described in Fig. 1 Method processed, only when spectators enter target mechanical arm region just concentrate to being introduced to the performance sites such as stage, exhibition room In each target mechanical arm controlled, so as to reduce to be introduced to the quantity in the performance sites such as stage, exhibition room compared with More mechanical arms caused power consumption when being controlled.

Embodiment two

Referring to Fig. 2, Fig. 2 is the machine that a kind of human body infrared thermal imaging disclosed by the embodiments of the present invention is combined with local media The structural schematic diagram of tool arm console.As shown in Fig. 2, the mechanical arm console may comprise steps of：

As an alternative embodiment, in mechanical arm console described in Fig. 2：

5) total run time：Including the total run time of target mechanical arm.

As an alternative embodiment, in mechanical arm console described in Fig. 2：

Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are The unique tags of template fingerprint feature corresponding with any one described target mechanical arm are identical and touch the input of fingerprint image The fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in fingerprint characteristic Between similarity when being more than predetermined threshold value, just execute to touch to operate described in the response and being monitored by the opc server The step of robot detail parameters of any one target mechanical arm, so as to significantly improve any one described mesh of monitoring The safety for marking the robot detail parameters of mechanical arm prevents the robot detail parameters of any one target mechanical arm non- Data leak caused by method user inquires wantonly.

As an alternative embodiment, in mechanical arm console described in Fig. 2：

If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at In the license access time section；If current time is located in license access time section, execute described in the response Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server.Wherein, described defeated Enter fingerprint characteristic with the license user fingerprints feature to match including the input fingerprint characteristic and the license user fingerprints There are pairing relationship between feature, and license user fingerprints feature template corresponding with any one described target mechanical arm Fingerprint characteristic can be different.

As an alternative embodiment, in mechanical arm console described in Fig. 2：

More preferably, in the mechanical arm console described in Fig. 2, the OPC modules are played back by function interface from more rails Before calling the track scape that multiple tracks generate in module, following operation can also be performed in OPC modules：

2) it unbinds：Two scapes are unbinding；

6) regional choice：Regional frame chooses corresponding track scape；

9) it replicates：The scape to be replicated is chosen, is replicated；

10) it pastes：The scape replicated is pasted；

12) restore：Current operation is restored to next mode of operation；

13) it marks：Corresponding label is done at the time of on a timeline；

14) it removes：All labels on checkout time axis；

15) upper one：Jump to a upper mark position for time shaft；

16) next：Jump to next mark position on time shaft；

More preferably, in the mechanical arm console described in Fig. 2, following operation can also be performed in OPC modules：

As an alternative embodiment, the track category that multiple tracks input in detection user is to more rail playback modules Property setting instruction after, OPC modules can according to the track attribute of the multiple track counted in advance setting frequency from High sequence on earth is ranked up the track attribute of the multiple track, consequently facilitating user is to being arranged the higher rail of frequency Road attribute is quickly arranged.

In the embodiment of the present invention, mechanical arm console is also provided with control editor module, and control editor module can be with For editor control order material, editor control order material node and progress equipment management, (such as mechanical arm tag control adds Add TCP equipment, server address setting) etc. operations.

Obviously, implement mechanical arm console described in Fig. 2, effectively can perform field to being introduced to stage, exhibition room etc. In a fairly large number of mechanical arm carry out centralized control, so as 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 target mechanical arm detects human body infrared in its residing region Thermal imaging can be that spectators enter caused by target mechanical arm region, therefore, implement mechanical arm control described in Fig. 2 Platform, only when spectators enter target mechanical arm region just concentrate 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 so as to reduce Caused power consumption 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 It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium includes read-only memory, random access memory, programmable read only memory, Erasable Programmable Read Only Memory EPROM, once may be used Program read-only memory, the electronics formula of erasing can make carbon copies read-only memory, CD-ROM or other disk storages, disk storage Device, magnetic tape storage or any other the computer-readable medium that can be used in carrying or storing data.

Above to a kind of mechanical arm that human body infrared thermal imaging is combined with local media control disclosed by the embodiments of the present invention Platform and method are described in detail, and specific case used herein explains the principle of the present invention and embodiment It states, the explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention；Meanwhile for this field Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute It states, the content of the present specification should not be construed as limiting the invention.

Claims

1. a kind of Mechanical arm control method that human body infrared thermal imaging is combined with local media, which is characterized in that including：

OPC modules are established data communication with opc server by OPC agreements and are connect, the opc server by network be located at The PLC device of all mechanical arms of performance site different zones establishes data communication connection；

The OPC modules identify the instruction message that each described mechanical arm reports, if the instruction message shows the machinery When arm detects human body infrared thermal imaging in the region residing for the mechanical arm, using the mechanical arm as target mechanical arm；

More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules generate on starting track in advance For carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for carrying out global control The geo-stationary orbit scape that each target mechanical arm synchronizes is made, is generated on speed track for carrying out each target machinery of global control The speed track scape of arm speed generates the robot track scape for identifying each target mechanical arm in robot track, The order track scape for being controlled each target mechanical arm is generated on order track, and is compiled using by local media It collects external interface and generates local media scape on local media track from the local media material obtained in local media host；

The OPC modules called from more rail playback modules by function interface the startup track scape, the geo-stationary orbit scape, The speed track scape, the robot track scape, the order track scape and the local media scape；Described in calling Start track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape to pass through Opc server is sent to the PLC device for each target mechanical arm that the robot track scape is identified, so that described each The PLC device of a target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track scape and the life It is that foundation controls corresponding target mechanical arm, and drives corresponding target mechanical arm while broadcasting to enable track scape Put the local media scape.

2. Mechanical arm control method according to claim 1, which is characterized in that the method further includes：

The OPC modules detection user is directed to the operation that touches of any one corresponding monitoring box of target mechanical arm, and described in response Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server, the robot Detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation Between, wherein：

2) robot speed：Each target mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed；

5) total run time：Including the total run time of target mechanical arm.

3. Mechanical arm control method according to claim 2, which is characterized in that the OPC modules detection user, which is directed to, to be appointed One corresponding monitoring box of target mechanical arm is touched after operation, and is touched operation described in response and serviced by the OPC Before the robot detail parameters of device monitoring any one target mechanical arm, the method further includes：

Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship With the multiple and different figure of array way sequencing display on mutual interface；

After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, determination is arranged again The ordering rule of the plurality of different figure after sequence；

Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the ordering rule if be stored with The unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described target mechanical arm is only One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image；

The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image point It cuts, image enhancement, image binaryzation and micronization processes, acquisition input refine fingerprint image；

It takes the fingerprint minutiae point in the input refines fingerprint image, and to input refinement fingerprint image into line trace, And the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refines the sampling of fingerprint image The convex closure of point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point；

Using the Ridge-Sampling point information around fingerprint minutiae, structure inputs the fingerprint minutiae local direction in fingerprint characteristic Description；

According to the fingerprint minutiae part of the description of fingerprint minutiae local direction and template fingerprint feature in input fingerprint characteristic Direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described target mechanical arm calculated in input fingerprint characteristic is special The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity；

Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing The step of robot detail parameters of any one target mechanical arm being monitored by the opc server.

4. Mechanical arm control method according to claim 3, which is characterized in that judging that fingerprint minutiae similarity is super It crosses after predetermined threshold value, and touches operation described in response and any one target machinery is monitored by the opc server Before the robot detail parameters of arm, the method further includes：

Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is joined in detail by the opc server The unique identities label of several license users；

If binding has the unique identities label of the license user, using the unique identities label of the license user as foundation, The corresponding license user fingerprints feature of unique identities label of the license user is inquired from database；

Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint characteristic It is not matched that with the license user fingerprints feature, sending monitoring to the corresponding license user of the license user fingerprints feature is permitted It can ask, the monitoring license request includes the label of any one target mechanical arm；

If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, the prison is identified Depending on license agree to response receiving time whether be located at the opc server binding allow monitored by the opc server In the license access time section of the robot detail parameters of mechanical arm；

If the receiving time is located in license access time section, executes and touch operation described in the response and pass through institute The step of stating the robot detail parameters of opc server monitoring any one target mechanical arm；

If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at Permit in access time section；If current time is located in license access time section, executes and touched described in the response Operation monitors the step of robot detail parameters of any one target mechanical arm by the opc server.

5. according to the Mechanical arm control method described in claim 2,3 or 4, which is characterized in that the method further includes：

The OPC modules detection user instructs for the global monitoring of all target mechanical arms input, and responds the global prison Control instruction monitors the robot global parameter of all target mechanical arms, the robot global parameter by the opc server Including robot global speed, PLC connection status and the inconsistent alarm of speed, wherein：

2) the PLC connection status：It is the connection status of PLC device and mechanical arm console, needs to service by the OPC Device judges to show with PLC device connection status；

3) the inconsistent alarm of the speed：The speed of all target mechanical arms should be consistent in operational process, because of speed Setting can only by global speed be arranged carry out to each target mechanical arm be carried out at the same time speed setting, when all targets machinery There is a nonsynchronous situation of speed and just needs to carry out alarm in arm, and needs to stop the operation of target mechanical arm.

6. Mechanical arm control method according to claim 5, which is characterized in that the OPC modules detection user is directed to institute After having the global monitoring instruction that target mechanical arm inputs, and the response global monitoring instruction passes through the opc server Before the robot global parameter for monitoring all target mechanical arms, the method further includes：

Detect whether the opc server binds the machine for allowing that all target mechanical arms are monitored by the opc server The unique tags of the control platform management user of people's global parameter；

If binding has the unique identities label of the control platform management user, the unique identities label of user is managed with the control platform For foundation, the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database；

Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes described waits for It is whether identical as unique legitimate secret of the control platform management user to compare the key to be verified for check key；If identical, Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server The step of parameter.

7. a kind of mechanical arm console that human body infrared thermal imaging is combined with local media, which is characterized in that including：

OPC modules, opc server and more rail playback modules, wherein the OPC modules are taken by OPC agreements and the OPC Business device establishes data communication connection, and the opc server passes through network and all mechanical arms for being located at performance site different zones PLC device establish data communication connection；

The OPC modules, the instruction message that each described mechanical arm reports for identification, if the instruction message show it is described When mechanical arm detects human body infrared thermal imaging in the region residing for the mechanical arm, using the mechanical arm as target machinery Arm；

More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting track in advance It is upper to generate for carrying out the global startup track scape for controlling each target mechanical arm and starting, it is generated on geo-stationary orbit for carrying out The overall situation controls the geo-stationary orbit scape that each target mechanical arm synchronizes, and is generated on speed track and controls each mesh for carrying out the overall situation The speed track scape for marking 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 each target mechanical arm on order track, and utilizes and pass through local Media editing external interface generates local matchmaker from the local media material obtained in local media host on local media track Body scape；

The OPC modules are additionally operable to call the startup track scape, the synchronization from more rail playback modules by function interface Track scape, the speed track scape, the robot track scape, the order track scape and the local media scape；It will adjust The startup track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local matchmaker Body scape is sent to the PLC device for each target mechanical arm that the robot track scape is identified by opc server, with Make the PLC device of each target mechanical arm with the startup track scape, the geo-stationary orbit scape, the speed track scape with And the order track scape is that foundation controls corresponding target mechanical arm, and drives corresponding target machinery Arm plays the local media scape simultaneously.

8. mechanical arm console according to claim 7, it is characterised in that：

The OPC modules are additionally operable to touch operation of the detection user for any one corresponding monitoring box of target mechanical arm, and ring The robot detail parameters touched operation and monitor any one target mechanical arm by the opc server are answered, it is described Robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and total fortune The row time, wherein：

5) total run time：Including the total run time of target mechanical arm.

9. mechanical arm console according to claim 8, it is characterised in that：The OPC modules are additionally operable in detection user For any one corresponding monitoring box of target mechanical arm touch operation after, and touch described in response operation pass through it is described Before the robot detail parameters of opc server monitoring any one target mechanical arm, following operation is executed：

Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing The robot detail parameters of any one target mechanical arm are monitored by the opc server.

10. mechanical arm console according to claim 9, which is characterized in that the OPC modules are judging details in fingerprint After point similarity is more than predetermined threshold value, and touch described in response operation monitored by the opc server it is described any Before the robot detail parameters of a target mechanical arm, following operation is also executed：

If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at Permit in access time section；If current time is located in license access time section, executes and touched described in the response Operation monitors the robot detail parameters of any one target mechanical arm by the opc server.

11. according to the mechanical arm console described in claim 8,9 or 10, it is characterised in that：

The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all target mechanical arms, and described in response Global monitoring instructs the robot global parameter for monitoring all target mechanical arms by the opc server, the robot complete Office's parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein：

12. mechanical arm console according to claim 11, which is characterized in that the OPC modules detection user is directed to institute After having the global monitoring instruction that target mechanical arm inputs, and the response global monitoring instruction passes through the opc server Before the robot global parameter for monitoring all target mechanical arms, following operation is also executed：

Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes described waits for It is whether identical as unique legitimate secret of the control platform management user to compare the key to be verified for check key；If identical, Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server Parameter.