CN106363631B

CN106363631B - A kind of mechanical arm console and method based on ultrasonic ranging

Info

Publication number: CN106363631B
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: 2018-09-04
Anticipated expiration: 2036-10-14
Also published as: CN106363631A

Abstract

A kind of mechanical arm console and method based on ultrasonic ranging, in this method：Target mechanical arm measures it by ultrasound and is smaller than pre-determined distance with barrier；OPC modules call the track scape that multiple tracks generate from more rail playback modules, include controlling geo-stationary orbit scape, speed track scape, the robot track scape for identifying each target mechanical arm and the order track scape for being controlled each target mechanical arm for carrying out the global each target mechanical arm speed of control that each target mechanical arm synchronizes for carrying out the global startup track scape for controlling each target mechanical arm startup, for carrying out the overall situation；Track scape that multiple tracks generate is sent to the PLC device of each target mechanical arm by opc server, the track scape that the PLC device of each target mechanical arm is generated according to multiple tracks respectively controls corresponding target mechanical arm.Can centralized control be introduced to a fairly large number of mechanical arm in the performance sites such as stage, exhibition room, improve control efficiency.

Description

A kind of mechanical arm console and method based on ultrasonic ranging

Technical field

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

Background technology

Currently, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and posture) requires to be moved tool, to complete a certain industrial job requirements. In order to give the performance sites such as stage, exhibition room to export good service, mechanical arm is gradually introduced the performance sites such as stage, exhibition room In.In practice, it has been found that as the mechanical arm for introducing the performance sites such as stage, exhibition room is more and more, how effectively to introducing Centralized control is carried out to a fairly large number of mechanical arm in the performance sites such as stage, exhibition room, to improve to being introduced to stage, exhibition room The control efficiency of a fairly large number of mechanical arm in equal performance sites, preferably services so as to be exported for performance site, is Performance site is badly in need of the technical barrier solved.

Invention content

The embodiment of the invention discloses a kind of mechanical arm console and method based on ultrasonic ranging, 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.

First aspect of the embodiment of the present invention discloses a kind of Mechanical arm control method based on ultrasonic ranging, including：

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

The OPC modules identify the instruction message that each described mechanical arm reports, if the instruction message show it is described Mechanical arm measures barrier and when being smaller than pre-determined distance of the mechanical arm by ultrasound, using the mechanical arm as Target mechanical arm；

More rail playback modules generate track scape on multiple tracks, i.e., more rail playback modules are generated on starting track and are used for The global startup track scape for controlling each target mechanical arm and starting is carried out, is generated on geo-stationary orbit each for carrying out global control The geo-stationary orbit scape that a target mechanical arm synchronizes is generated on speed track for carrying out each target mechanical arm speed of global control The speed track scape of degree generates the robot track scape for identifying each target mechanical arm in robot track, is ordering The order track scape for being controlled each target mechanical arm is generated on track；

The OPC modules call the track scape of multiple tracks generations by function interface from more rail playback modules, and will The track scape that the multiple track called generates is sent to the PLC of each target mechanical arm by the opc server Equipment, so that the track scape that the PLC device of each target mechanical arm is generated according to the multiple track is respectively to corresponding Target mechanical arm is controlled.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2) it unbinds：Two scapes are unbinding；

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

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

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

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

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

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

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

10) it pastes：The scape replicated is pasted；

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

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

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

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

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

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

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

Second aspect of the embodiment of the present invention discloses a kind of mechanical arm console based on ultrasonic ranging, including：

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

The OPC modules, the instruction message that each described mechanical arm reports for identification, if the instruction message shows The mechanical arm measures barrier and when being smaller than pre-determined distance of the mechanical arm by ultrasound, by the mechanical arm As target mechanical arm；

More rail playback modules, for generating track scape on multiple tracks, i.e., more rail playback modules are raw on starting track At for carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for carrying out the overall situation The geo-stationary orbit scape that each target mechanical arm synchronizes is controlled, is generated on speed track for carrying out the global 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, The order track scape for being controlled each target mechanical arm is generated on order track；

The OPC modules are additionally operable to the track for calling multiple tracks to generate from more rail playback modules by function interface Scape, and the track scape that the multiple track of calling generates is sent to each target machinery by the opc server The PLC device of arm, so that the track scape that the PLC device of each target mechanical arm is generated according to the multiple track is respectively right Corresponding target mechanical arm is controlled.

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

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

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

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

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

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

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

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

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

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

The OPC modules by function interface before the track scape for calling multiple tracks to generate in more rail playback modules, The OPC modules also execute following operation：

2) it unbinds：Two scapes are unbinding；

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

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

10) it pastes：The scape replicated is pasted；

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

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

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

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

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

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

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

In the embodiment of the present invention, OPC modules can will go out barrier and mechanical arm in performance site by ultrasound examination The mechanical arm for being smaller than pre-determined distance as target mechanical arm, and multiple tracks is called from more rail playback modules to generate Track scape, include generated on starting track for carry out it is global control startup track scape that each target mechanical arm starts, It is generated on geo-stationary orbit for carrying out the global geo-stationary orbit scape for controlling each target mechanical arm synchronization, being generated on speed track It is each for identifying for carrying out the global speed track scape for controlling each target mechanical arm speed, being generated in robot track The robot track scape of target mechanical arm and life of the generation for being controlled each target mechanical arm on order track Enable track scape；Further, the track scape that multiple tracks of calling generate can be sent to by OPC modules by opc server The PLC device of each target mechanical arm, and the track scape that the PLC device of each target mechanical arm can be generated according to multiple tracks Respectively corresponding target mechanical arm is controlled.Obviously, implement in the embodiment of the present invention, it can be effectively to being introduced to dance A fairly large number of mechanical arm in the performance sites such as platform, exhibition room carries out centralized control, so as 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 measured by ultrasound The pre-determined distance that is smaller than with target mechanical arm can be that spectators enter caused by target mechanical arm region, 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 Each target mechanical arm in equal performance sites is controlled, so as to reduce to being introduced to the performance sites such as stage, exhibition room In a fairly large number of mechanical arm caused power consumption when being controlled.

Description of the drawings

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

Fig. 1 is a kind of flow signal of Mechanical arm control method based on ultrasonic ranging disclosed by the embodiments of the present invention Figure；

Fig. 2 is a kind of structural schematic diagram of mechanical arm console based on ultrasonic ranging disclosed by the embodiments of the present invention.

Specific implementation mode

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

The embodiment of the invention discloses a kind of mechanical arm console and method based on ultrasonic ranging, 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.Attached drawing is combined below to be described in detail.

Embodiment one

Referring to Fig. 1, Fig. 1 is a kind of Mechanical arm control method based on ultrasonic ranging disclosed by the embodiments of the present invention Flow diagram.Wherein, the Mechanical arm control method based on ultrasonic ranging described in Fig. 1 can be applied to mechanical arm control Platform.As shown in Figure 1, the Mechanical arm control method may comprise steps of：

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

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

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

102, OPC modules identify the instruction message that each mechanical arm reports, if the instruction message shows that the mechanical arm is logical It crosses ultrasound and measures barrier and when being smaller than pre-determined distance of the mechanical arm, using the mechanical arm as target mechanical arm.

In the embodiment of the present invention, it can be provided with ultrasonic transmitter and ultrasonic receiver on mechanical arm, pass through ultrasound Wave launcher can emit ultrasonic wave to a direction, start timing while emission time, ultrasonic wave is propagated in air When encounter barrier (such as spectators) if immediately return come, ultrasonic receiver receives back wave and just stops timing immediately.Ultrasonic wave Aerial spread speed is V, and according to the time difference Δ t for measuring transmitting and receiving echo of timer record, so that it may with Launch point the distance S away from barrier, i.e. S=V Δs t/2 are calculated, when S is less than pre-determined distance, mechanical arm can pass through machine Instruction message is reported to OPC modules by the PLC device of tool arm, wherein the instruction message is for showing that the mechanical arm passes through ultrasound What wave measurement went out barrier and the mechanical arm is smaller than pre-determined distance.

103, more rail playback modules generate track scape on multiple tracks, i.e., more rail playback modules generate on starting track For carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for carrying out global control The geo-stationary orbit scape that each target mechanical arm synchronizes is made, is generated on speed track for carrying out each target machinery of global control The speed track scape of arm speed generates the robot track scape for identifying each target mechanical arm in robot track, The order track scape for being controlled each target mechanical arm is generated on order track.

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

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

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

104, OPC modules call the track scape of multiple tracks generations by function interface from more rail playback modules, and will The track scape that the multiple track called generates is sent to the PLC of each target mechanical arm by the opc server Equipment, so that the track scape that the PLC device of each target mechanical arm is generated according to the multiple track is respectively to corresponding Target mechanical arm is controlled.

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

Wherein, in the corresponding entire curtain field list of curtain field list mode that more rail playback modules can be arranged for OPC modules The corresponding initial time in all fields under all curtains is as sending time, periodically by the startup track scape of calling, institute It states geo-stationary orbit scape, the speed track scape and the order track scape and the robot rail is sent to by opc server The PLC device for each target mechanical arm that road scape is identified, carrys out control machinery arm so as to realize according to curtain field type, The control of mechanical arm is performed to match.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2) it unbinds：Two scapes are unbinding；

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

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

10) it pastes：The scape replicated is pasted；

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

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

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

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

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

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

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

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

Obviously, implement Mechanical arm control method described in Fig. 1, it can be effectively to being introduced to the performances such as stage, exhibition room A fairly large number of mechanical arm in place carries out centralized control, so as to improve to being introduced to the performance sites such as stage, exhibition room In a fairly large number of mechanical arm control efficiency.Further, since the barrier measured by ultrasound and target mechanical arm The pre-determined distance that is smaller than can be that spectators enter caused by target mechanical arm region, therefore, implement Fig. 1 described by Mechanical arm control method, only when spectators enter target mechanical arm region just concentrate to being introduced to stage, exhibition room Each target mechanical arm in equal performance sites is controlled, so as to reduce to being introduced to the performance sites such as stage, exhibition room In a fairly large number of mechanical arm caused power consumption when being controlled.

Embodiment two

Referring to Fig. 2, Fig. 2 is a kind of knot of mechanical arm console based on ultrasonic ranging disclosed by the embodiments of the present invention Structure schematic diagram.As shown in Fig. 2, the mechanical arm console may comprise steps of：

The OPC modules, the instruction message that each mechanical arm reports for identification, if the instruction message shows the machinery Arm measures barrier and when being smaller than pre-determined distance of the mechanical arm by ultrasound, using the mechanical arm as target machinery Arm；

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

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

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

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

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

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

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

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

2) it unbinds：Two scapes are unbinding；

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

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

10) it pastes：The scape replicated is pasted；

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

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

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

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

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

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

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

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

Obviously, implement mechanical arm console described in Fig. 2, effectively can perform field to being introduced to stage, exhibition room etc. In a fairly large number of mechanical arm carry out centralized control, so as to improve to being introduced in the performance sites such as stage, exhibition room A fairly large number of mechanical arm control efficiency.Further, since the barrier measured by ultrasound and target mechanical arm It can be that spectators enter caused by target mechanical arm region to be smaller than pre-determined distance, therefore, implemented described in Fig. 2 Mechanical arm console, that is only just concentrated when spectators enter target mechanical arm region drills being introduced to stage, exhibition room etc. The each target mechanical arm gone out in place is controlled, so as to reduce to being introduced in the performance sites such as stage, exhibition room A fairly large number of mechanical arm caused power consumption 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 It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disk storages, magnetic disk storage, magnetic tape storage or can Any other computer-readable medium for carrying or storing data.

A kind of mechanical arm console and method based on ultrasonic ranging disclosed by the embodiments of the present invention are carried out above It is discussed in detail, principle and implementation of the present invention are described for specific case used herein, above example Illustrate the method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification It should not be construed as limiting the invention.

Claims

1. a kind of Mechanical arm control method based on ultrasonic ranging, which is characterized in that including：

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

The OPC modules identify the instruction message that each described mechanical arm reports, if the instruction message shows the machinery Arm measures barrier and when being smaller than pre-determined distance of the mechanical arm by ultrasound, using the mechanical arm as target Mechanical arm；

More rail playback modules generate track scape on multiple tracks, i.e., more rail playback modules generate on starting track for carrying out The overall situation controls the startup track scape that each target mechanical arm starts, and is generated on geo-stationary orbit and controls each mesh for carrying out the overall situation The geo-stationary orbit scape that mechanical arm synchronizes is marked, is generated on speed track for carrying out the global each target mechanical arm speed of control Speed track scape generates the robot track scape for identifying each target mechanical arm, in order track in robot track Order track scape of the upper generation for being controlled each target mechanical arm；

The OPC modules call the track scape of multiple tracks generations by function interface from more rail playback modules, and will call The track scape that generates of the multiple track the PLC device of each target mechanical arm is sent to by the opc server, So that the track scape that the PLC device of each target mechanical arm is generated according to the multiple track is to corresponding target machine Tool arm is controlled.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Whether detect the opc server and bind allows to monitor that the robot of all mechanical arms is complete by the opc server The unique tags of the control platform management user of office's parameter；

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

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

7. a kind of mechanical arm console based on ultrasonic ranging, which is characterized in that including：

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

The OPC modules, the instruction message that each described mechanical arm reports for identification, if the instruction message show it is described Mechanical arm measures barrier and when being smaller than pre-determined distance of the mechanical arm by ultrasound, using the mechanical arm as Target mechanical arm；

More rail playback modules, for generating track scape on multiple tracks, i.e., more rail playback modules are generated on starting track and are used In carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for carrying out global control The geo-stationary orbit scape that each target mechanical arm synchronizes is generated on speed track for carrying out the global 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, is ordering Enable the order track scape generated on track for being controlled each target mechanical arm；

The OPC modules are additionally operable to the track scape for calling multiple tracks to generate from more rail playback modules by function interface, and The track scape that the multiple track of calling generates is sent to each target mechanical arm by the opc server PLC device, so that the track scape that the PLC device of each target mechanical arm is generated according to the multiple track is to respectively corresponding to Target mechanical arm controlled.

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

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

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

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

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

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

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

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

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

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

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

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