CN106363628A

CN106363628A - Mechanical arm control console and method for combining multiple rails with local media

Info

Publication number: CN106363628A
Application number: CN201610900200.1A
Authority: CN
Inventors: 李株亮; 黄石锋; 李志雄; 黄庆杰
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: 2017-02-01

Abstract

The invention relates to a mechanical arm control console and method for combining multiple rails with local media. The method comprises the steps that an OPC module calls a start rail scene, a synchronous rail scene, a speed rail scene, a robot rail scene, a command rail scene and a local media scene from a multi-rail playback module; the start rail scene, the synchronous rail scene, the speed rail scene, the command rail scene and the local media scene are sent to PLC devices of mechanical arms marked by the robot rail scene through an OPC server; and the PLC devices of the mechanical arms control the mechanical arms corresponding to the PLC devices correspondingly based on the start rail scene, the synchronous rail scene, the speed rail scene and the command rail scene, and drive the mechanical arms corresponding to the PLC devices correspondingly to play the local media scene at the same time. A large number of mechanical arms introduced into stage performances and the exhibition market can be effectively controlled in a centralized manner, so that the control efficiency on a large number of mechanical arms is improved. Media and mechanical arm synchronous control can be achieved, and better service is output to the stage performances and the exhibition market.

Description

Mechanical arm control station and method that a kind of multi-track is combined with local media

Technical field

The present invention relates to performance integration control technology field, the machine that more particularly, to a kind of multi-track is combined with local media Tool 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 stage performance, the output of display and demonstration market, mechanical arm is gradually introduced stage performance and display and demonstration In market.In practice, it has been found that with being introduced into stage performance, the mechanical arm in display and demonstration market gets more and more, how to drawing The a fairly large number of mechanical arm entering to stage performance, display and demonstration market carries out centralized Control, to improve to being introduced to stage The control efficiency of a fairly large number of mechanical arm in performance, display and demonstration market, and how further to realize media and machine The Synchronization Control of tool arm, such that it is able to preferably service for stage performance, the output of display and demonstration market, is stage performance and exhibition Show the technical barrier that market in urgent need solves.

Content of the invention

The embodiment of the invention discloses a kind of mechanical arm control station that combines with local media of multi-track and method, can Effectively to being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market carries out centralized Control, right to improve It is introduced to the control efficiency of stage performance, a fairly large number of mechanical arm in display and demonstration market；Media and machine can also be realized The Synchronization Control of tool arm is such that it is able to preferably service for stage performance, the output of display and demonstration market.

Embodiment of the present invention first aspect discloses the Mechanical arm control method that a kind of multi-track is combined with local media, bag Include:

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 all mechanical arms to start, geo-stationary orbit generates and is used for carrying out overall situation control Make the synchronous geo-stationary orbit scape of all mechanical arms, speed track generates and controls all mechanical arm speed for carrying out the overall situation Speed track scape, generates the robot track scape for identifying each mechanical arm in robot track, raw on order track Become the order track scape for being controlled to mechanical arm, and utilize by local media editor's external interface from local media The local media material obtaining in main frame generates local media scape on local media track；

Described 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 local media scape；And will The described startup track scape that calls, described geo-stationary orbit scape, described speed track scape, described order track scape and described local Media scape is sent to the plc equipment of each mechanical arm described that described robot track scape is identified by described opc server, So that the plc equipment of each mechanical arm described with described startup track scape, described geo-stationary orbit scape, described speed track scape and Described order track scape be according to each corresponding mechanical arm is controlled, and drives respective to corresponding mechanical arm simultaneously Play described local media scape.

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 the corresponding monitoring box of any one mechanical arm touches operation, and responds described Touch the robot detail parameters operating by any one mechanical arm described in described opc server monitors, described robot is detailed Parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time, its In:

1) described manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °；

2) described robot speed: each 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 mechanical arm；

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of mechanical arm.

As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module detects user's pin To the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation serviced by described opc Before device monitors the robot detail parameters of any one 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 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 Whether corresponding with any one mechanical arm described template fingerprint feature of unique tags of the corresponding template fingerprint feature of rule is 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 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 template fingerprint corresponding with any one mechanical arm described calculating in input fingerprint characteristic is special Similarity between the fingerprint minutiae levied, 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 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 machine described in described opc server monitors touching operation described in response Before the robot detail parameters of tool 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 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 mechanical arm described in described opc server monitors.

Described opc module detects that user is directed to the global monitoring instruction of all mechanical arm inputs, and responds described overall situation prison The robot global parameter by all mechanical arms of described opc server monitors for the control 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 robot；

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 mechanical arms should be consistent, because speed Setting can only by global speed setting carry out carrying out speed setting to each mechanical arm simultaneously, when all mechanical arms occur one The nonsynchronous situation of individual speed is accomplished by carrying out alarm, and needs to stop mechanical arm running.

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 mechanical arms input, and described opc server is passed through in response described global monitoring instruction Before monitoring the robot global parameter of all 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 parameter by all mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution Step.

As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module is connect by function Mouth calls described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot from many rails playback module Before track scape, described order track scape and described local media scape, methods described also includes:

Opc module is set up data communication by opc agreement with opc server and is connected, described opc server pass through network with The plc equipment of each mechanical arm described is set up data communication and is connected；

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.

Embodiment of the present invention second aspect discloses the mechanical arm control station that a kind of multi-track is combined with local media, bag Include:

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 all mechanical arms to start, geo-stationary orbit generates and is used for carrying out The overall situation controls the synchronous geo-stationary orbit scape of all mechanical arms, generates and be used for carrying out the overall situation all mechanical arms of control on speed track The speed track scape of speed, generates the robot track scape for identifying each mechanical arm, in order rail in robot track Order track scape for being controlled to mechanical arm is generated on road, and utilizes by local media editor's external interface from this The local media material obtaining in ground media host generates local media scape on local media track；

Described opc module, for by function interface call from many rails playback module described startup track scape, described with Step track scape, described speed track scape, described robot track scape, described order track scape and described local media scape；With And by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described order track scape and described Local media scape is sent to the plc of each mechanical arm described that described robot track scape is identified by described opc server Equipment, so that the plc equipment of each mechanical arm described is with described startup track scape, described geo-stationary orbit scape, described speed track Scape and described order track scape be according to each corresponding mechanical arm is controlled, and drives respective to corresponding machinery Arm plays described local media scape 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 the corresponding monitoring box of any one mechanical arm touch operation, and ring The robot detail parameters operating by any one mechanical arm described in described opc server monitors, described machine is touched described in answering When people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and always run Between, wherein:

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of mechanical arm.

Described opc module is additionally operable to be directed to the operation that touches of any one mechanical arm corresponding monitoring box in detection user Afterwards, and touch described in response and operate by the robot detail parameters of any one mechanical arm described in described opc server monitors Before, execute following operation:

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 mechanical arm described in described opc server monitors for the operation.

Described opc module is after judging that fingerprint minutiae similarity exceedes predetermined threshold value, and is responding described touching And before operation is by the robot detail parameters of any one mechanical arm described in described opc server monitors, also execute following behaviour Make:

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 mechanical arm described in described opc server monitors.

Described opc module is additionally operable to detect the global monitoring instruction that user is directed to all mechanical arm inputs, and responds described Global monitoring instructs the robot global parameter by all mechanical arms of described opc server monitors, described robot global ginseng Number includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:

1) described robot global speed: the global speed of display robot；

After described opc module detects the global monitoring instruction that user is directed to all mechanical arm inputs, and response is described Before the global monitoring robot global parameter by all mechanical arms of described opc server monitors for the instruction, be additionally operable to execution with Lower operation:

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 ginseng by all mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution Number.

Described opc module calls described startup track scape, described synchronous rail by function interface from many rails playback module Before road scape, described speed track scape, described robot track scape, described order track scape and described local media scape, also Execution is following to be operated:

Described 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 each mechanical arm and is connected；

2) unbind: will be unbinding for two scapes；

6) regional choice: regional frame chooses corresponding track 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 its mechanical arm to allow The program number using.

Compared with prior art, the embodiment of the present invention possesses following beneficial effect:

In the embodiment of the present invention, opc module can by function interface call from many rails playback module startup track scape, Geo-stationary orbit scape, speed track scape, robot track scape, order track scape and local media scape, and by the startup called Track scape, geo-stationary orbit scape, speed track scape, order track scape and local media scape are sent to machine by opc server The plc equipment of each mechanical arm that people's track scape is identified, so that the plc equipment of each mechanical arm is to start track scape, synchronization Track scape, speed track scape and order track scape are according to respective to being each controlled to corresponding mechanical arm, and driving Local media scape is play simultaneously to corresponding mechanical arm.Obviously, implement the embodiment of the present invention, can be effectively to being introduced to stage Performance, a fairly large number of mechanical arm in display and demonstration market carry out centralized Control, to improve to being introduced to stage performance, exhibition Show the control efficiency of a fairly large number of mechanical arm in market；The Synchronization Control of media and mechanical arm can also be realized, thus Preferably can service for stage performance, the output of display and demonstration market.

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 stream of the Mechanical arm control method that a kind of multi-track disclosed in the embodiment of the present invention is combined with local media Journey schematic diagram；

Fig. 2 is the structure of the mechanical arm control station that a kind of multi-track disclosed in the embodiment of the present invention is combined with local media 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 local media of multi-track and method, can Effectively to being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market carries out centralized Control, right to improve It is introduced to the control efficiency of stage performance, a fairly large number of mechanical arm in display and demonstration market；Media and machine can also be realized The Synchronization Control of tool arm is such that it is able to preferably service for stage performance, the output of display and demonstration market.Below it is combined accompanying drawing It is described in detail.

Embodiment one

Refer to Fig. 1, Fig. 1 is the mechanical arm control that a kind of multi-track disclosed in the embodiment of the present invention is combined with local media The schematic flow sheet of method processed.Wherein, the Mechanical arm control method that the multi-track described by Fig. 1 is combined with local media is permissible It is applied to mechanical arm control station, this mechanical arm control station is primarily adapted for use in being introduced to stage performance, in display and demonstration market A fairly large number of mechanical arm carries out centralized Control, more to being introduced to stage performance, the quantity in display and demonstration market to improve Mechanical arm control efficiency；And realize the Synchronization Control of media and mechanical arm such that it is able to be stage performance, display and demonstration Market output preferably services.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, opc server pass through network with The plc equipment of each mechanical arm is set up data communication 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.

102nd, 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 carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out entirely Office controls the synchronous geo-stationary orbit scape of all mechanical arms, generates and be used for carrying out overall situation control all mechanical arms speed on speed track The speed track scape of degree, generates the robot track scape for identifying each mechanical arm, in order track in robot track On generate order track scape for being controlled to mechanical arm, and using by local media editor's external interface from local The local media material obtaining in media host generates local media scape on local media track.

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 started that order (belonging to global command) generates in advance on starting track be used for carries out the overall situation and controls all mechanical arms to start Track scape；Above-mentioned geo-stationary orbit scape is that many rails playback module (belongs to complete according to the opc synch command being drawn to geo-stationary orbit Office's order) generate on geo-stationary orbit in advance control the synchronous track scape of all mechanical arms for carrying out the overall situation；Above-mentioned speed Degree track scape is many rails playback module according to being drawn to opc general speed order (belonging to global command) of speed track in advance in speed The track scape controlling all mechanical arm speed for carrying out the overall situation generating on degree track；Above-mentioned robot track scape is many rails Playback module is above-mentioned for identifying according to be drawn to that the robot label of robot track generates in advance in robot track The track scape of each mechanical arm；Above-mentioned order track scape is many rails playback module according to the control command being drawn to order track Material in advance on order track generate for the track scape that mechanical arm is controlled.Above-mentioned local media scape is many rails Playback module is drawn to the local of local media track according to by local media editor's external interface from local media main frame The local media scape that media materials (as local audio material, local video material etc.) generate in advance on local media track.

In the embodiment of the present invention, what order track generated can be used for controlling for the track scape that mechanical arm is controlled The angle of mechanical arm rotation processed, the direction of rotation etc..

In the embodiment of the present invention, above-mentioned robot track can be a plurality of robot rail of the quantity customization according to mechanical arm Road, each robot track can be placed corresponding robot label (preselector number as mechanical arm waits label)；Its In, a plurality of robot track is parallel to each other, and the corresponding robot label placed in a plurality of robot track is (as mechanical arm Preselector number wait label) align on a timeline, such that it is able to realize to being introduced to stage performance, in display and demonstration market A fairly large number of mechanical arm parallel control, improve control efficiency such that it is able to more preferable.

103rd, 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 local media scape；And will The described startup track scape that calls, described geo-stationary orbit scape, described speed track scape, described order track scape and described local Media scape is sent to the plc equipment of each mechanical arm described that described robot track scape is identified by described opc server, So that the plc equipment of each mechanical arm described with described startup track scape, described geo-stationary orbit scape, described speed track scape and Described order track scape be according to each corresponding mechanical arm is controlled, and drives respective to corresponding mechanical arm simultaneously Play described local media scape.

Wherein, the plc equipment of each mechanical arm is with described startup track scape, described geo-stationary orbit scape, described speed track Scape and described order track scape are foundation, corresponding mechanical arm are carried out start control, Synchronization Control, speed controlling to respective And order controls the corresponding control of material (such as rotating counterclockwise specified duration).

Wherein, opc module can be by the corresponding whole curtain field list of curtain field list mode of many rails playback module setting The corresponding initial time in all fields under all curtains as send the time, periodically by the described startup track scape calling, institute State geo-stationary orbit scape, described speed track scape, described order track scape and described local media scape to send by opc server To described robot track scape identified described in each mechanical arm plc equipment, such that it is able to realize according to curtain field type come Control machinery arm is so that the control of mechanical arm can be matched with performance.

As a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, can also carry out following step Rapid:

Opc module detects that what user was directed to the corresponding monitoring box of any one mechanical arm touches operation, and responds this and touch behaviour Make the robot detail parameters by any one mechanical arm described in opc server monitors, wherein, robot detail parameters include machine Device people's shaft angle degree, robot speed, it is currently running program number, current run time and total run time, wherein:

1) state manipulator shaft angle: include 6 angle parameters of a1-a6, angle parameter scope is -180 ° to 180 °；

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of mechanical arm.

As a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, opc module detects user For the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation taken by described opc Before business device monitors the robot detail parameters of any one mechanical arm described, can also carry out following steps:

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；

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 fingerprint that is identical with the unique tags of the corresponding template fingerprint feature of any one mechanical arm described and touching fingerprint image The phase between fingerprint minutiae in fingerprint minutiae in feature template fingerprint feature corresponding with any one mechanical arm described When exceeding predetermined threshold value like degree, just execute and touch operation described in described response by arbitrary described in described opc server monitors The step of the robot detail parameters of individual mechanical arm, such that it is able to the significant robot improving and monitoring any one mechanical arm described The safety of detail parameters, prevents the robot detail parameters of any one mechanical arm described from wantonly being inquired about and led to by disabled user Data leak.

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 mechanical arm described, following steps can also be first carried out:

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；Alternatively, if described input fingerprint Feature is not matched that with described license user fingerprints feature, then sending out to described license user fingerprints feature corresponding license user Before sending supervision license request, may further determine that whether described input fingerprint characteristic is belonged to described license user fingerprints feature Fingerprint characteristic in same user collection is charge-coupled, if belonged to then it is assumed that described input user and the institute that fingerprint characteristic belongs to The license user stating belonging to license user fingerprints feature is mutually familiar, now can be corresponding to described license user fingerprints feature License user sends and monitors license request, disturbs such that it is able to permit that user prevents strange user；

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 mechanical arm described in described opc server monitors.Wherein, described Input fingerprint characteristic and described license user fingerprints feature are matched and are referred to described license user including described input fingerprint characteristic There is pair relationhip between stricture of vagina feature, and described license user fingerprints feature template corresponding with any one mechanical arm described refers to Stricture of vagina feature 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 mechanical arm corresponding template fingerprint feature unique tags are identical and input fingerprint characteristic that touch fingerprint image In fingerprint minutiae template fingerprint feature corresponding with any one mechanical arm described in fingerprint minutiae between similarity When exceeding predetermined threshold value, the license user of opc server binding or the license user binding through opc server is only allowed to be permitted Can other users permit user-defined license access time section, any one machine described in opc server monitors could be passed through The robot detail parameters of tool arm, such that it is able to realize through opc server and any one mechanical arm described dual license it Afterwards, the robot detail parameters of any one mechanical arm described in opc server monitors could be passed through, improve prison such that it is able to significant Depending on the safety of the robot detail parameters of any one mechanical arm described, prevent the robot of any one mechanical arm described from joining in detail The data leak that number is 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:

1) described robot global speed: the global speed of display robot；

More preferably, in the Mechanical arm control method described by Fig. 1, described opc module detection user is directed to all machineries After the global monitoring instruction of arm input, and response described global monitoring instruction is organic by described opc server monitors institute Before the robot global parameter of tool arm, methods described also includes:

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 mechanical arms of described opc server monitors, monitor all machineries such that it is able to significant raising The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms from wantonly being inquired about by disabled user and The data leak leading 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 local media scape, methods described is further comprising the steps of:

2) unbind: will be unbinding for two scapes；

6) regional choice: regional frame chooses corresponding track 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；

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 the Mechanical arm control method described by Fig. 1, can be effectively to being introduced to stage performance, exhibition exhibition Show that a fairly large number of mechanical arm in market carries out centralized Control, to improve to being introduced to stage performance, in display and demonstration market A fairly large number of mechanical arm control efficiency；The Synchronization Control of media and mechanical arm can also be realized such that it is able to be stage Performance, the output of display and demonstration market preferably service.

Embodiment two

Refer to Fig. 2, Fig. 2 is the mechanical arm control that a kind of multi-track disclosed in the embodiment of the present invention is combined with local media The structural representation of platform processed.As shown in Fig. 2 this mechanical arm control station may comprise steps of:

Opc module, opc server and many rails playback module, wherein, described opc module pass through opc agreement with described Opc server is set up data communication and is connected, and described opc server sets up data by the plc equipment of network and each mechanical arm Communication connects；

As a kind of optional embodiment, in the mechanical arm control station described in Fig. 2:

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of mechanical arm.

Described opc module be additionally operable to detect user be directed to the corresponding monitoring box of any one mechanical arm touch operation after, And touch described in response operate by the robot detail parameters of any one mechanical arm described in described opc server monitors it Before, execution is following to be operated:

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 mechanical arm described in described opc server monitors.Wherein, described input refers to Stricture of vagina feature and described license user fingerprints feature match including described input fingerprint characteristic and described license user fingerprints feature Between there is pair relationhip, and described license user fingerprints feature template fingerprint feature corresponding with any one mechanical arm described Can be different.

1) described robot global speed: the global speed of display robot；

After described opc module detects the global monitoring instruction that user is directed to all mechanical arm inputs, and response is described Before the robot global parameter by all mechanical arms of described opc server monitors for the global monitoring instruction, also execute following behaviour Make:

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 local media scape, opc module can also carry out following operation:

2) unbind: will be unbinding for two scapes；

6) regional choice: regional frame chooses corresponding track 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；

More preferably, in the mechanical arm control station described by Fig. 2, opc module can also carry out following operation:

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 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 the mechanical arm control station described by Fig. 2, can be effectively to being introduced to stage performance, display and demonstration A fairly large number of mechanical arm in market carries out centralized Control, to improve to being introduced to stage performance, in display and demonstration market The control efficiency of a fairly large number of mechanical arm；The Synchronization Control of media and mechanical arm can also be realized such that it is able to drill for stage Go out, the output of display and demonstration market preferably services.

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 programmable read-only memory, otprom), the electronics formula of erasing can make carbon copies read only memory (electrically-erasable programmable read-only memory, eeprom), read-only optical disc (compact Disc read-only memory, cd-rom) or other disk storages, disk memory, magnetic tape storage or can For carry or data storage any other medium computer-readable.

The mechanical arm control station above multi-track a kind of disclosed in the embodiment of the present invention being combined with local media and side Method is described in detail, and specific case used herein is set forth to the principle of the present invention and embodiment, above The explanation of embodiment is only intended to help and understands the method for the present invention and its core concept；General skill simultaneously for this area Art personnel, according to the thought of the present invention, all will change in specific embodiments and applications, in sum, this Description should not be construed as limitation of the present invention.

Claims

1. the Mechanical arm control method that a kind of multi-track is combined with local media is it is characterised in that include:

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 all mechanical arms to start, geo-stationary orbit generates and is used for carrying out overall situation control institute There is the synchronous geo-stationary orbit scape of mechanical arm, the speed controlling all mechanical arm speed for carrying out the overall situation is generated on speed track Track scape, generates the robot track scape for identifying each mechanical arm in robot track, generates and use on order track In the order track scape that mechanical arm is controlled, and utilize by local media editor's external interface from local media main frame The local media material of middle acquisition generates local media scape on local 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 local media scape；By the described startup called Track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described local media scape pass through opc Server is sent to the plc equipment of each mechanical arm described that described robot track scape is identified, so that each machinery described The plc equipment of arm with described startup track scape, described geo-stationary orbit scape, described speed track scape and described order track scape is According to being each controlled to corresponding mechanical arm, and drive each playing described local media to corresponding mechanical arm simultaneously Scape.

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 the corresponding monitoring box of any one mechanical arm touches operation, and touches described in responding The robot detail parameters by any one mechanical arm described in described opc server monitors for the operation, described robot detail parameters Including manipulator shaft angle, robot speed, it is currently running program number, current run time and total run time, wherein:

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of 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 mechanical arm touch operation after, and touch operation described in response by described opc server prison Before the robot detail parameters of any one mechanical arm described, methods described also includes:

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 Unique mark of whether corresponding with any one mechanical arm described template fingerprint feature of the unique tags of corresponding template fingerprint feature Sign 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 calculates in the fingerprint minutiae template fingerprint feature corresponding with any one mechanical arm described in input fingerprint characteristic Fingerprint minutiae between similarity, obtain 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 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 pass through any one mechanical arm described in described opc server monitors touching operation described in response Before robot detail parameters, 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 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 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 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 mechanical arms inputs, and responds described global monitoring and refer to The robot global parameter by all mechanical arms of described opc server monitors for the order, described robot global parameter includes machine People's global speed, plc connection status and the inconsistent warning of speed, wherein:

1) described robot global speed: the global speed of display robot；

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 mechanical arms should be consistent, because the setting of speed Put can only carry out carrying out speed setting to each mechanical arm by global speed setting simultaneously, when a speed in all mechanical arms Spend nonsynchronous situation to be accomplished by carrying out alarm, and need to stop mechanical arm operation.

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 mechanical arm input, and described opc server monitors are passed through in response described global monitoring instruction Before the robot global parameter of all 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 step by the robot global parameter of all mechanical arms of described opc server monitors for the described response described global monitoring instruction Suddenly.

7. the Mechanical arm control method according to any one of claim 1～6 is it is characterised in that described opc module passes through letter Number interface calls described startup track scape, described geo-stationary orbit scape, described speed track scape, described machine from many rails playback module Before device people's track scape, described order track scape and described local media scape, methods described also includes:

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, wherein, editor includes binding, unbinds, left-justify, isometric, mouse, regional choice, screen Cover, delete, replicating, pasting, cancelling, recovering, labelling, removing, upper one, next and setting, wherein:

1) bind: multiple scapes are bound together, the scape of binding is as an entirety, operation including moving, deleting for the execution When come into force simultaneously；

2) unbind: will be unbinding for two scapes；

4) isometric: to choose multiple scapes of same type, with last scape as target, the scape chosen is carried out isometric operation；

6) regional choice: regional frame chooses corresponding track 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 and interface is set, the current engineering of setting allows the mechanical arm using and mechanical arm to allow use Program number.

8. the mechanical arm control station that a kind of multi-track is combined with local media is it is characterised in that include:

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 carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out the overall situation Control the synchronous geo-stationary orbit scape of all mechanical arms, speed track generates and is used for carrying out the overall situation all mechanical arm speed of control Speed track scape, the robot track scape for identifying each mechanical arm is generated on robot track, on order track Generate the order track scape for being controlled to mechanical arm, and utilize by local media editor's external interface from local matchmaker The local media material obtaining in body main frame generates local media scape on local media track；

Opc module, for calling described startup track scape, described geo-stationary orbit by function interface from many rails playback module Scape, described speed track scape, described robot track scape, described order track scape and described local media scape；And will adjust Described startup track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described local matchmaker Body scape is sent to the plc equipment of each mechanical arm described that described robot track scape is identified by opc server, so that institute The plc equipment stating each mechanical arm is with described startup track scape, described geo-stationary orbit scape, described speed track scape and described life Track scape is made to be according to being each controlled to corresponding mechanical arm, and drive each playing institute to corresponding mechanical arm simultaneously State local media scape.

9. mechanical arm control station according to claim 8 it is characterised in that:

Described opc module, is additionally operable to detect that what user was directed to the corresponding monitoring box of any one mechanical arm touches operation, and responds institute State and touch the robot detail parameters operating by any one mechanical arm described in described opc server monitors, described robot is detailed Thin parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time, Wherein:

4) described current run time: include the mechanical arm current time run；

5) described total run time: include the total run time of mechanical arm.

10. mechanical arm control station according to claim 9 it is characterised in that: described opc module be additionally operable to detection user For the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation taken by described opc Before business device monitors the robot detail parameters of any one mechanical arm described, execution is following to be operated:

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 mechanical arm described in described opc server monitors.

11. mechanical arm control stations according to claim 10 are it is characterised in that described opc module is to judge fingerprint thin After node similarity exceedes predetermined threshold value, and touching operation described in response by appointing described in described opc server monitors Before the robot detail parameters of one mechanical arm, also execution is following operates:

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 mechanical arm described in described opc server monitors for the operation.

12. mechanical arm control stations according to claim 9,10 or 11 it is characterised in that:

Described opc module is additionally operable to detect the global monitoring instruction that user is directed to all mechanical arm inputs, and responds the described overall situation The robot global parameter by all mechanical arms of described opc server monitors for the monitoring instruction, described robot global parameter bag Include robot global speed, plc connection status and the inconsistent warning of speed, wherein:

1) described robot global speed: the global speed of display robot；

13. mechanical arm control stations according to claim 12 are it is characterised in that described opc module is additionally operable to use in detection After family is directed to the global monitoring instruction of all mechanical arm inputs, and response described global monitoring instruction is taken by described opc Before business device monitors the robot global parameter of all mechanical arms, also execution is following operates:

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 mechanical arms of described opc server monitors for the described response described global monitoring instruction.