CN106363631A

CN106363631A - Mechanical arm control table and method based on ultrasonic distance measuring

Info

Publication number: CN106363631A
Application number: CN201610900433.1A
Authority: CN
Inventors: 黄庆杰; 李株亮; 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: 2017-02-01
Anticipated expiration: 2036-10-14
Also published as: CN106363631B

Abstract

The invention discloses a mechanical arm control table and method based on ultrasonic distance measuring. In the method, it is detected that the distance between target mechanical arms and an obstacle is smaller than the preset distance through ultrasonic measuring; an OPC module calls track views generated by multiple tracks from a multi-track playback module, and the track views include the starting track view used for conducting overall control over starting of the target mechanical arms, the synchronous track view used for conducting overall control over synchronism of the target mechanical arms, the speed track view used for conducting overall control over the speed of the target mechanical arms, the robot track view used for identifying the target mechanical arms, and the order track view used for controlling the target mechanical arms; and the track views generated by the multiple tracks are sent to PLCs of the target mechanical arms through an OPC server, and the PLCs of the target mechanical arms control the corresponding target mechanical arms according to the track views generated by the multiple tracks. The mechanical arm control table and method can control the multiple mechanical arms guided to stages, exhibition halls and other performance places in a centralized manner, and the control efficiency is improved.

Description

A kind of mechanical arm control station based on ultrasonic ranging and method

Technical field

The present invention relates to performance integration control technology field, more particularly, to a kind of mechanical arm control based on ultrasonic ranging Platform and method.

Background technology

At present, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and attitude) requires to move, thus completing a certain industrial job requirements instrument. For the service good to the output of the performance sites such as stage, exhibition room, mechanical arm is gradually introduced the performance sites such as stage, exhibition room In.In practice, it has been found that getting more and more with the mechanical arm introducing the performance sites such as stage, exhibition room, how effectively to introducing A fairly large number of mechanical arm to the performance sites such as stage, exhibition room carries out centralized Control, to improve to being introduced to stage, exhibition room Control efficiency Deng a fairly large number of mechanical arm in performance site preferably services such that it is able to export for performance site, is Performance site is badly in need of the technical barrier solving.

Content of the invention

The embodiment of the invention discloses a kind of mechanical arm control station based on ultrasonic ranging and method, can be effectively right The a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room carries out centralized Control, improves to being introduced to stage, exhibition The control efficiency of a fairly large number of mechanical arm in the performance sites such as the Room.

Embodiment of the present invention first aspect discloses a kind of Mechanical arm control method based on ultrasonic ranging, comprising:

Opc module is set up data communication by opc agreement with opc server and is connected, described opc server pass through network with Set up data communication positioned at the plc equipment of all mechanical arms of performance site zones of different to connect；

Described opc module identifies the instruction message that each described mechanical arm reports, if described instruction message show described Mechanical arm measures barrier and when being smaller than predeterminable range of described mechanical arm by ultrasound, using described mechanical arm as Target mechanical arm；

Many rails playback module generates track scape on multiple tracks, and that is, many rails playback module generates on starting track and is used for Carry out the overall startup track scape controlling each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out overall situation control respectively The synchronous geo-stationary orbit scape of individual target mechanical arm, generates on speed track and is used for carrying out each target mechanical arm speed of overall situation control The speed track scape of degree, generates the robot track scape for identifying each target mechanical arm in robot track, in order Order track scape for being controlled to each target mechanical arm is generated on track；

Described opc module calls the track scape of multiple tracks generations by function interface from many rails playback module, and will The track scape that the plurality of track calling generates is sent to the plc of each target mechanical arm described by described opc server Equipment, so that the track scape that the plc equipment of each target mechanical arm described generates according to the plurality of track is each to corresponding Target mechanical arm is controlled.

As a kind of optional embodiment, in embodiment of the present invention first aspect, methods described also includes:

Described opc module detects that what user was directed to any one corresponding monitoring box of target mechanical arm touches operation, and responds Described touching operates by the robot detail parameters of any one target mechanical arm described in described opc server monitors, described machine Device people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total operation Time, wherein:

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

2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, Bu Xuxiu Change；

3) it is currently running program number described in: include the current program number running of target mechanical arm；

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

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

As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module detects user's pin To any one corresponding monitoring box of target mechanical arm touch operation after, and response described in touch operation pass through described opc Before the robot detail parameters of any one target mechanical arm described in server monitors, methods described also includes:

Touching pressure and touching fingerprint of operation generation is touched described in detection；

Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described people With the multiple different figure of array way sequencing display on machine interactive interface；

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

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

Pretreatment is done to the described fingerprint image that touches, described pretreatment is included respectively to the described image touching fingerprint image Segmentation, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image；

Described input refinement fingerprint image takes the fingerprint minutiae point, and described input refinement fingerprint image is carried out with Track, and extract the sampled point on crestal line in described input refinement fingerprint image, and extract described input refinement fingerprint image The convex closure of sampled point, generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point；

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

Fingerprint minutiae according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature Local direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is referred to any one corresponding template of target mechanical arm described The similarity between fingerprint minutiae in stricture of vagina feature, obtains fingerprint minutiae similarity；

Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution The step by the robot detail parameters of any one target mechanical arm described in described opc server monitors for the operation.

As a kind of optional embodiment, in embodiment of the present invention first aspect, judging fingerprint minutiae phase After exceeding predetermined threshold value like degree, and pass through any one mesh described in described opc server monitors touching operation described in response Before the robot detail parameters of mark mechanical arm, methods described also includes:

Detect whether described opc server binds the robot allowing to pass through described opc server monitors mechanical arm detailed The unique identities label of the license user of thin parameter；

If binding have described license user unique identities label, with described license user unique identities label be according to According to, inquire about from data base described license user unique identities label corresponding license user fingerprints feature；

Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature Depending on license request, described supervision license request includes the label of any one mechanical arm described；

Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify institute State and monitor the permission permitting the reception time agreeing to response whether to be located at described opc server binding by described opc server Monitor in the license access time section of robot detail parameters of mechanical arm；

If the described reception time is located in described license access time section, touch operation described in the described response of execution logical The step crossing the robot detail parameters of any one target mechanical arm described in described opc server monitors；

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

Described opc module detects that user is directed to the global monitoring instruction of all target mechanical arm inputs, and responds described complete The robot global parameter by all target mechanical arms of described opc server monitors for office's monitoring instruction, described robot global Parameter includes robot global speed, plc connection status and the inconsistent warning of speed, wherein:

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

2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need by described opc Server judges display with plc equipment connection status；

3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because The setting of speed can only carry out carrying out speed setting to each target mechanical arm by global speed setting simultaneously, when all targets The nonsynchronous situation of mechanical arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.

As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module detects user's pin After the global monitoring instruction of all target mechanical arms input, and response described global monitoring instruction is taken by described opc Before business device monitors the robot global parameter of all target mechanical arms, methods described also includes:

Detect whether described opc server binds the machine allowing by all mechanical arms of described opc server monitors The control platform of people's global parameter manages the unique tags of user；

If binding has described control platform to manage the unique identities label of user, manage the unique identities of user with described control platform Label is foundation, inquires about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base；

Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user；If identical, The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution The step of parameter.

As a kind of optional embodiment, in embodiment of the present invention first aspect, described opc module is connect by function Before mouth calls the track scape that multiple tracks generate from many rails playback module, methods described also includes:

The edit instruction to the track scape that tracks multiple in many rails playback module generate of detection user input, and respond institute State edit instruction and edlin entered to track scape, wherein, editor includes binding, unbinds, left-justify, isometric, mouse, regional choice, Shielding, deletion, duplication, stickup, revocation, recovery, 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 a kind of mechanical arm control station based on ultrasonic ranging, comprising:

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 it is organic with the institute positioned at performance site zones of different that described opc server passes through network The plc equipment of tool arm is set up data communication and is connected；

Described opc module, for identifying the instruction message that each described mechanical arm reports, if described instruction message shows Described mechanical arm measures barrier and when being smaller than predeterminable range of described mechanical arm by ultrasound, by described mechanical arm As target mechanical arm；

Many rails playback module, for generating track scape on multiple tracks, that is, many rails playback module is raw on starting track Become for carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out the overall situation Control the synchronous geo-stationary orbit scape of each target mechanical arm, speed track generates and is used for carrying out the overall situation each target machine of control The speed track scape of tool arm speed, generates the robot track scape for identifying each target mechanical arm in robot track, Order track scape for being controlled to each target mechanical arm is generated on order track；

Described opc module, is additionally operable to call the track of multiple tracks generations from many rails playback module by function interface Scape, and the track scape that the plurality of track calling is generated is sent to each target machinery described by described opc server The plc equipment of arm, so that the track scape that the plc equipment of each target mechanical arm described generates according to the plurality of track is each right Corresponding target mechanical arm is controlled.

As a kind of optional embodiment, in embodiment of the present invention second aspect:

Described opc module, be additionally operable to detect user be directed to any one corresponding monitoring box of target mechanical arm touch operation, And described in responding, touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors, Described robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and Total run time, wherein:

Described opc module be additionally operable to detection user be directed to any one corresponding monitoring box of target mechanical arm touch operation Afterwards, and response described in touch operation detailed by the robot of any one target mechanical arm described in described opc server monitors Before thin parameter, execution is following to be operated:

Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching described in the described response of execution The robot detail parameters by any one target mechanical arm described in described opc server monitors for the operation.

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

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

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

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

Identify in described global monitoring instruction and whether include key to be verified, if the instruction of described global monitoring includes institute State key to be verified, contrast described key to be verified whether identical with the unique key of described control platform management user；If identical, The robot global by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction of execution Parameter.

Before the track scape that described opc module calls multiple tracks to generate by function interface from many rails playback module, Described opc module also executes 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；

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 will go out barrier and mechanical arm by ultrasound examination in performance site Be smaller than the mechanical arm of predeterminable range as target mechanical arm, and call multiple tracks to generate from many rails playback module Track scape, including start track on generate for carry out the overall situation control each target mechanical arm start startup track scape, Generate on geo-stationary orbit and control the synchronous geo-stationary orbit scape of each target mechanical arm, generate on speed track for carrying out the overall situation Control the speed track scape of each target mechanical arm speed for carrying out the overall situation, generate for identifying each in robot track The robot track scape of the target mechanical arm and life for being controlled to each target mechanical arm is generated on order track Make track scape；Further, the track scape that the multiple tracks calling can be generated by opc module is sent to by opc server The plc equipment of each target mechanical arm, and the track scape that the plc equipment of each target mechanical arm can generate according to multiple tracks Each corresponding target mechanical arm is controlled.Obviously, implement the embodiment of the present invention in, can effectively to be introduced to wave A fairly large number of mechanical arm in the performance sites such as platform, exhibition room carries out centralized Control, such that it is able to improve to being introduced to stage, exhibition The control efficiency of a fairly large number of mechanical arm in the performance sites such as the Room.Further, since the barrier being measured by ultrasound With target mechanical arm be smaller than predeterminable range can be spectators enter target mechanical arm region and cause, therefore, Implement the embodiment of the present invention, only when spectators enter target mechanical arm region just concentration to being introduced to stage, exhibition room It is controlled Deng each target mechanical arm in performance site, such that it is able to reduce to being introduced to the performance sites such as stage, exhibition room In the power consumption brought when being controlled of a fairly large number of mechanical arm.

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 that a kind of flow process of Mechanical arm control method based on ultrasonic ranging disclosed in the embodiment of the present invention is illustrated Figure；

Fig. 2 is a kind of structural representation of the mechanical arm control station based on ultrasonic ranging disclosed in the embodiment of the present invention.

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 based on ultrasonic ranging and method, can be effectively right The a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room carries out centralized Control, improves to being introduced to stage, exhibition The control efficiency of a fairly large number of mechanical arm in the performance sites such as the Room.Below it is combined accompanying drawing to be described in detail.

Embodiment one

Refer to Fig. 1, Fig. 1 is a kind of Mechanical arm control method based on ultrasonic ranging disclosed in the embodiment of the present invention Schematic flow sheet.Wherein, described by Fig. 1, mechanical arm control be can apply to based on the Mechanical arm control method of ultrasonic ranging Platform.As shown in figure 1, this Mechanical arm control method may comprise steps of:

101st, opc module is set up data communication by opc agreement with opc server and is connected, and described opc server passes through net Network is set up data communication with the plc equipment of all mechanical arms positioned at performance site zones of different and is connected.

In the embodiment of the present invention, opc module refers to connect for the object of process control and embedded (i.e. ole for Process control) module, opc module can include opc control and robot monitors two big functions.Opc server refers to Rslinx opc server, opc module and opc server can be arranged in mechanical arm control station, and opc module is mainly passed through (i.e. programmable logic controller, programmable with the plc of mechanical arm for the server of rslinx opc server Logic controller) equipment carries out data interaction, is the interface module that mechanical arm control station carries out mechanical arm control.

In the embodiment of the present invention, performance site there may be multiple zoness of different, and each region can be with one machine of layout Tool arm.

102nd, opc module identifies the instruction message that each mechanical arm reports, if this instruction message shows that this mechanical arm leads to Cross ultrasound and measure barrier and when being smaller than predeterminable range of this mechanical arm, using this mechanical arm as target mechanical arm.

In the embodiment of the present invention, mechanical arm can be provided with ultrasonic transmitter and ultrasonic receiver, by ultrasonic Wave launcher can launch ultrasound wave to a direction, starts timing, ultrasound wave is propagated in atmosphere while x time When encounters barrier (as spectators), and just return immediately comes, and ultrasonic receiver receives echo and just stops timing immediately.Ultrasound wave Aerial spread speed be v, and according to timer record measure transmitting and receive echo time difference δ t it is possible to Calculate launch point away from barrier apart from s, i.e. s=v δ t/2, when s is less than predeterminable range, mechanical arm can pass through machine The plc equipment of tool arm will indicate information reporting to opc module, and wherein, this instruction message is used for showing this mechanical arm by ultrasonic What wave measurement went out barrier and this mechanical arm is smaller than predeterminable range.

103rd, many rails playback module generates track scape on multiple tracks, and that is, many rails playback module generates on starting track For carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out overall situation control Make the synchronous geo-stationary orbit scape of each target mechanical arm, speed track generates and is used for carrying out each target machinery of overall situation control The speed track scape of arm speed, generates the robot track scape for identifying each target mechanical arm in robot track, Order track scape for being controlled to each target mechanical arm is generated on order track.

In the embodiment of the present invention, many rails playback module can be arranged in mechanical arm control station, and many rails playback module Function interface is connected with opc module.Wherein, the above-mentioned track scape that starts is many rails playback module according to being drawn to startup track What opc startup order (belonging to global command) generated in advance on starting track is used for carrying out the overall situation each target mechanical arm of control The track scape starting；Above-mentioned geo-stationary orbit scape is that many rails playback module (belongs to according to the opc synch command being drawn to geo-stationary orbit In global command) generate on geo-stationary orbit in advance control the synchronous track scape of each target mechanical arm for carrying out the overall situation； Above-mentioned speed track scape is many rails playback module according to opc general speed order (belonging to global command) being drawn to speed track The track scape controlling each target mechanical arm speed for carrying out the overall situation generating on speed track in advance；Above-mentioned robot Track scape is that many rails playback module generates in advance according to the robot label being drawn to robot track in robot track For identifying the track scape of each target mechanical arm；Above-mentioned order track scape is many rails playback module according to being drawn to order rail The control command material in road in advance on order track generate for the track scape that each target mechanical arm is controlled.

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

In the embodiment of the present invention, above-mentioned robot track can be a plurality of machine of the quantity customization according to target mechanical arm People's track, each robot track can be placed the corresponding target robot label (preselector as target mechanical arm Number wait label)；Wherein, a plurality of robot track is parallel to each other, and the corresponding target machine placed in a plurality of robot track Device people's label (as target mechanical arm preselector number wait label) align on a timeline, such that it is able to realize to be introduced to wave The parallel control of a fairly large number of mechanical arm in the performance sites such as platform, exhibition room, improves control efficiency such that it is able to more preferable.

104th, opc module calls the track scape of multiple tracks generations from many rails playback module by function interface, and will The track scape that the plurality of track calling generates is sent to the plc of each target mechanical arm described by described opc server Equipment, so that the track scape that the plc equipment of each target mechanical arm described generates according to the plurality of track is each to corresponding Target mechanical arm is controlled.

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

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 and described order track scape and described robot rail is sent to by opc server The plc equipment of each target mechanical arm described that road scape is identified, such that it is able to realize carrying out control machinery arm according to curtain field type, The control alloing mechanical arm is performed and is matched.

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

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

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 that is identical with the unique tags of any one target mechanical arm described corresponding template fingerprint feature and touching fingerprint image Between fingerprint minutiae in fingerprint minutiae in fingerprint characteristic template fingerprint feature corresponding with any one mechanical arm described Similarity when exceeding predetermined threshold value, just execute and touch operation by described in described opc server monitors described in described response The step of the robot detail parameters of any one target mechanical arm, monitors any one target machine described such that it is able to significant raising The safety of the robot detail parameters of tool arm, prevents the robot detail parameters of any one target mechanical arm described from illegally being used The data leak that family is wantonly inquired about and led to.

More preferably, as a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, opc module exists After judging that fingerprint minutiae similarity exceedes predetermined threshold value, and serviced by described opc touching operation described in response Before device monitors the robot detail parameters of any one target mechanical arm described, following steps can also be first carried out:

Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint Feature does not match that, corresponding license user sends prison to described license user fingerprints feature with described license user fingerprints feature Depending on license request, described supervision license request includes the label of any one target mechanical arm described；Alternatively, if described input Fingerprint characteristic is not matched that with described license user fingerprints feature, then using to the corresponding license of described license user fingerprints feature Family sends before monitoring license request, may further determine that described input fingerprint characteristic with described license user fingerprints feature is No belong to same user collection charge-coupled in fingerprint characteristic, if belonging to then it is assumed that the user that belongs to of described input fingerprint characteristic Mutually familiar with the license user belonging to described license user fingerprints feature, now can be to described license user fingerprints feature pair The license user answering sends and monitors license request, disturbs such that it is able to permit that user prevents strange user；

If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at In described license access time section；If current time is located in described license access time section, described in the described response of execution Touch the step operating by the robot detail parameters of any one target mechanical arm described in described opc server monitors.Wherein, Described input fingerprint characteristic and described license user fingerprints feature match and use including described input fingerprint characteristic and described license There is pair relationhip between the fingerprint characteristic of family, and described license user fingerprints feature mould corresponding with any one mechanical arm described Plate fingerprint characteristic can be different.

Obviously, implement above-mentioned embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement Ordering rule corresponding template fingerprint feature, and the unique tags of this ordering rule corresponding template fingerprint feature again with institute State any one target mechanical arm corresponding template fingerprint feature unique tags are identical and input fingerprint that touch fingerprint image Between fingerprint minutiae in feature and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature Similarity when exceeding predetermined threshold value, only allow the license user of opc server binding or being permitted through the binding of opc server Can user license other users permit user-defined license access time section, could pass through described in opc server monitors The robot detail parameters of any one target mechanical arm, such that it is able to realize through opc server and any one target machine described The robot detail parameters of any one target mechanical arm described in opc server monitors after the dual license of tool arm, could be passed through, Such that it is able to the safety of the significant robot detail parameters improving and monitoring any one target mechanical arm described, prevent described appointing The data leak that the robot detail parameters of one target mechanical arm are wantonly inquired about and led to by disabled user.

More preferably, as a kind of optional embodiment, in the Mechanical arm control method described by Fig. 1, can also wrap Include following steps:

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

Obviously, implement above-mentioned embodiment, when the instruction of described global monitoring includes key to be verified, and the described overall situation The key described to be verified that monitoring instruction includes is owned by described opc server monitors with the permission of opc server binding The control platform of the robot global parameter of mechanical arm manage user the corresponding unique legitimate secret of unique tags identical when, Cai Nengtong Cross the robot global parameter of all target mechanical arms of described opc server monitors, monitor own such that it is able to significant raising The safety of the robot global parameter of target mechanical arm, prevents the robot global parameter of all target mechanical arms from illegally being used The data leak that family is wantonly inquired about and led to.

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

The edit instruction to the pregenerated track scape of tracks multiple in many rails playback module of detection user input, and respond Described edit instruction enters edlin to track scape, and wherein, editor includes binding, unbinds, left-justify, isometric, mouse, region are selected Select, shield, deleting, replicating, pasting, cancelling, recovering, labelling, removing, upper one, next and setting, wherein:

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 Fig. 1 described by Mechanical arm control method, can effectively to be introduced to stage, exhibition room etc. performance A fairly large number of mechanical arm in place carries out centralized Control, such that it is able to improve to being introduced to the performance sites such as stage, exhibition room In a fairly large number of mechanical arm control efficiency.Further, since the barrier being measured by ultrasound and target mechanical arm Be smaller than predeterminable range can be spectators enter target mechanical arm region and cause, therefore, implement Fig. 1 described by Mechanical arm control method, only when spectators enter target mechanical arm region just concentration to being introduced to stage, exhibition room It is controlled Deng each target mechanical arm in performance site, such that it is able to reduce to being introduced to the performance sites such as stage, exhibition room In the power consumption brought when being controlled of a fairly large number of mechanical arm.

Embodiment two

Refer to Fig. 2, Fig. 2 is a kind of knot of the mechanical arm control station based on ultrasonic ranging disclosed in the embodiment of the present invention Structure schematic diagram.As shown in Fig. 2 this mechanical arm control station may comprise steps of:

Described opc module, for identifying the instruction message that each mechanical arm reports, if this instruction message shows this machinery Arm measures barrier and when being smaller than predeterminable range of this mechanical arm by ultrasound, using this mechanical arm as target machinery Arm；

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

Obviously, implement above-mentioned embodiment, only the plurality of different after pre-selection is stored with user's rearrangement The ordering rule corresponding template fingerprint feature of figure, and the unique tags of this ordering rule corresponding template fingerprint feature are Input that is identical with the unique tags of any one target mechanical arm described corresponding template fingerprint feature and touching fingerprint image Fingerprint minutiae in fingerprint characteristic and the fingerprint minutiae in any one target mechanical arm described corresponding template fingerprint feature Between similarity when exceeding predetermined threshold value, just execute and touch operation described in described response and pass through described opc server monitors The step of the robot detail parameters of any one target mechanical arm described, monitors any one mesh described such that it is able to significant raising The safety of the robot detail parameters of mark mechanical arm, prevents the robot detail parameters of any one target mechanical arm described non- The data leak that method user wantonly inquires about and leads to.

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

More preferably, in the mechanical arm control station described by Fig. 2, described opc module is played back from many rails by function interface Before calling the track scape that multiple tracks generate in module, 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 Fig. 2 described by mechanical arm control station, can effectively to be introduced to stage, exhibition room etc. performance field In a fairly large number of mechanical arm carry out centralized Control, such that it is able to improve to being introduced in the performance sites such as stage, exhibition room A fairly large number of mechanical arm control efficiency.Further, since the barrier being measured by ultrasound and target mechanical arm Being smaller than predeterminable range can be that spectators enter target mechanical arm region and cause, and therefore, implement described by Fig. 2 Mechanical arm control station, just the drilling to being introduced to stage, exhibition room etc. of concentration only when spectators enter target mechanical arm region Each target mechanical arm going out in place is controlled, such that it is able to reduce to being introduced in the performance sites such as stage, exhibition room The power consumption that a fairly large number of mechanical arm is brought when being controlled.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can Completed with the hardware instructing correlation by program, this program can be stored in a computer-readable recording medium, storage Medium include read only memory (read-only memory, rom), random access memory (random access memory, Ram), programmable read only memory (programmable read-only memory, prom), erasable programmable is read-only deposits Reservoir (erasable programmable read only memory, eprom), disposable programmable read only memory (one- Time 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.

Above the mechanical arm control station based on ultrasonic ranging a kind of disclosed in the embodiment of the present invention and method are carried out It is discussed in detail, specific case used herein is set forth to the principle of the present invention and embodiment, above example Illustrate that being only intended to help understands the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to According to the thought of the present invention, all will change in specific embodiments and applications, in sum, this specification content Should not be construed as limitation of the present invention.

Claims

1. a kind of Mechanical arm control method based on ultrasonic ranging is it is characterised in that include:

Opc module is set up data communication by opc agreement with opc server and is connected, and described opc server passes through network and is located at The plc equipment of all mechanical arms of performance site zones of different is set up data communication and is connected；

Described opc module identifies the instruction message that each described mechanical arm reports, if described instruction message shows described machinery Arm measures barrier and when being smaller than predeterminable range of described mechanical arm by ultrasound, using described mechanical arm as target Mechanical arm；

Many rails playback module generates track scape on multiple tracks, and that is, many rails playback module generates on starting track and is used for carrying out The overall situation controls the startup track scape that each target mechanical arm starts, and generates and be used for carrying out the overall situation each mesh of control on geo-stationary orbit The synchronous geo-stationary orbit scape of mark mechanical arm, generates on speed track and controls each target mechanical arm speed for carrying out the overall situation Speed track scape, generates the robot track scape for identifying each target mechanical arm, in order track in robot track On generate order track scape for being controlled to each target mechanical arm；

Described opc module calls the track scape of multiple tracks generations by function interface from many rails playback module, and will call The track scape that generates of the plurality of track pass through described opc server be sent to described in each target mechanical arm plc equipment, So that the track scape that the plc equipment of each target mechanical arm described generates according to the plurality of track is each to corresponding target machine Tool arm is controlled.

2. Mechanical arm control method according to claim 1 is it is characterised in that methods described also includes:

Described opc module detects that what user was directed to any one corresponding monitoring box of target mechanical arm touches operation, and responds described Touch the robot detail parameters operating by any one target mechanical arm described in described opc server monitors, described robot When detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and always run Between, wherein:

2) described robot speed: each target mechanical arm runs the speed of itself, is only permitted display and is checked, mustn't be changed；

3. Mechanical arm control method according to claim 2 is it is characterised in that described opc module detection user is directed to and appoints The corresponding monitoring box of one target mechanical arm touch operation after, and touch operation described in response and serviced by described opc Before device monitors the robot detail parameters of any one target mechanical arm described, methods described also includes:

Touch pressure described in judgement and whether exceed and default touch pressure, if it does, output human-computer interaction interface, described man-machine friendship Mutually with the multiple different figure of array way sequencing display on interface；

After user completes to the plurality of different figure rearrangement on described human-computer interaction interface, determine and again arrange The ordering rule of the plurality of different figure after sequence；

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

Pretreatment is done to the described fingerprint image that touches, described pretreatment includes respectively the described image touching fingerprint image being divided Cut, image enhaucament, image binaryzation and micronization processes, obtain input refinement fingerprint image；

Take the fingerprint in described input refinement fingerprint image minutiae point, and described input refinement fingerprint image is tracked, And extract the sampled point that described input refines on crestal line in fingerprint image, and the sampling extracting described input refinement fingerprint image The convex closure of point, generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point；

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

Fingerprint minutiae local according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature Direction describes, and the fingerprint minutiae calculating in input fingerprint characteristic is special with any one corresponding template fingerprint of target mechanical arm described Similarity between the fingerprint minutiae levied, obtains fingerprint minutiae similarity；

Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching operation described in the described response of execution Step by the robot detail parameters of any one target mechanical arm described in described opc server monitors.

4. Mechanical arm control method according to claim 3 is it is characterised in that judging that fingerprint minutiae similarity is super After crossing predetermined threshold value, and touching operation described in response by any one target machinery described in described opc server monitors Before the robot detail parameters of arm, methods described also includes:

Detect whether described opc server is bound to allow to join in detail by the robot of described opc server monitors mechanical arm The unique identities label of the license user of number；

If binding has the unique identities label of described license user, with the unique identities label of described license user as foundation, The unique identities label corresponding license user fingerprints feature of described license user is inquired about from data base；

Whether identification described input fingerprint characteristic is matched with described license user fingerprints feature, if described input fingerprint characteristic Do not match that with described license user fingerprints feature, send supervision to described license user fingerprints feature corresponding license user and permitted Can ask, the described label monitoring that license request includes any one target mechanical arm described；

Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify described prison Described opc server monitors are passed through in the permission whether the reception time agreeing to response depending on license is located at described opc server binding In the license access time section of the robot detail parameters of mechanical arm；

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

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

5. the Mechanical arm control method according to claim 2,3 or 4 is it is characterised in that methods described also includes:

Described opc module detects that user is directed to the global monitoring instruction of all target mechanical arm inputs, and responds described overall situation prison The robot global parameter by all target mechanical arms of described opc server monitors for the control instruction, described robot global parameter Including robot global speed, plc connection status and the inconsistent warning of speed, wherein:

2) described plc connection status: be the connection status of plc equipment and mechanical arm control station, need to service by described opc Device judges display with plc equipment connection status；

3) the inconsistent warning of described speed: in running, the speed of all target mechanical arms should be consistent, because speed Setting can only by global speed setting carry out carrying out speed setting to each target mechanical arm simultaneously, when all targets machinery The nonsynchronous situation of arm one speed of appearance is accomplished by carrying out alarm, and needs to stop the operation of target mechanical arm.

6. Mechanical arm control method according to claim 5 is it is characterised in that described opc module detection user is directed to institute After having the global monitoring instruction of target mechanical arm input, and described opc server is passed through in response described global monitoring instruction Before monitoring the robot global parameter of all target mechanical arms, methods described also includes:

Detect whether described opc server binds the robot allowing to pass through all mechanical arms of described opc server monitors complete The control platform of office's parameter manages the unique tags of user；

If binding has described control platform to manage the unique identities label of user, manage the unique identities label of user with described control platform It is foundation, inquire about the corresponding unique legitimate secret of unique identities label that described control platform manages user from data base；

Identify in the instruction of described global monitoring and whether include key to be verified, if the instruction of described global monitoring include described in treat Check key, contrasts described key to be verified whether identical with the unique key of described control platform management user；If identical, execution The robot global parameter by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction Step.

7. a kind of mechanical arm control station based on ultrasonic ranging is it is characterised in that include:

Opc module, opc server and many rails playback module, wherein, described opc module passes through opc agreement and described opc clothes Business device is set up data communication and is connected, and described opc server passes through network and all mechanical arms positioned at performance site zones of different Plc equipment set up data communication connect；

Described opc module, for identifying the instruction message that each described mechanical arm reports, if described instruction message show described Mechanical arm measures barrier and when being smaller than predeterminable range of described mechanical arm by ultrasound, using described mechanical arm as Target mechanical arm；

Many rails playback module, for generating track scape on multiple tracks, that is, many rails playback module generates on starting track and uses In carrying out the startup track scape that the overall situation controls each target mechanical arm to start, geo-stationary orbit generates and is used for carrying out overall control The synchronous geo-stationary orbit scape of each target mechanical arm, generates on speed track and is used for carrying out the overall situation each target mechanical arm of control The speed track scape of speed, generates the robot track scape for identifying each target mechanical arm in robot track, in life The order track scape generating for being controlled to each target mechanical arm is made on track；

Described opc module, is additionally operable to call the track scape of multiple tracks generations from many rails playback module by function interface, and The track scape that the plurality of track calling is generated is sent to each target mechanical arm described by described opc server Plc equipment, so that the track scape that the plc equipment of each target mechanical arm described generates according to the plurality of track is each to corresponding Target mechanical arm be controlled.

8. mechanical arm control station according to claim 7 it is characterised in that:

Described opc module, be additionally operable to detect user be directed to any one corresponding monitoring box of target mechanical arm touch operation, and ring The robot detail parameters operating by any one target mechanical arm described in described opc server monitors are touched described in answering, described Robot detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total fortune The row time, wherein:

9. mechanical arm control station according to claim 8 it is characterised in that: described opc module be additionally operable to detection user For any one corresponding monitoring box of target mechanical arm touch operation after, and touch operation described in response by described Before the robot detail parameters of any one target mechanical arm described in opc server monitors, execution is following to be operated:

Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, touching operation described in the described response of execution Robot detail parameters by any one target mechanical arm described in described opc server monitors.

10. mechanical arm control station according to claim 9 is it is characterised in that described opc module is judging details in fingerprint After point similarity exceedes predetermined threshold value, and touching operation described in response by arbitrary described in described opc server monitors Before the robot detail parameters of individual target mechanical arm, also execution is following operates:

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；

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

Mechanical arm control station described in 11. according to Claim 8,9 or 10 it is characterised in that:

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

12. mechanical arm control stations according to claim 11 are it is characterised in that described opc module detection user is directed to institute After having the global monitoring instruction of target mechanical arm input, and described opc server is passed through in response described global monitoring instruction Before monitoring the robot global parameter of all target mechanical arms, also execution is following operates:

Identify in the instruction of described global monitoring and whether include key to be verified, if the instruction of described global monitoring include described in treat Check key, contrasts described key to be verified whether identical with the unique key of described control platform management user；If identical, execution The robot global ginseng by all target mechanical arms of described opc server monitors for the described response described global monitoring instruction Number.