CN106378779A

CN106378779A - Multi-track curtain field mode and remote media combined mechanical arm control console and method

Info

Publication number: CN106378779A
Application number: CN201610900435.0A
Authority: CN
Inventors: 李志雄; 李株亮; 黄石锋; 黄庆杰
Original assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Current assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2017-02-08
Anticipated expiration: 2036-10-14
Also published as: CN106378779B

Abstract

The invention provides a multi-track curtain field mode and remote media combined mechanical arm control console and method. The method comprises the steps that an OPC module calls a starting track scenery, a synchronous track scenery, a speed track scenery, a robot track scenery, a command track scenery and a remote media scenery from a multi-track playback module; the starting track scenery, the synchronous track scenery, the speed track scenery, the robot track scenery, the command track scenery and the remote media scenery which are called are cyclically transmitted to PLC devices of all mechanical arms identified in the robot track scenery through an OPC server according to scenery patterns set in the multi-track playback module; the PLC devices of all the mechanical arms control the respective corresponding mechanical arms according to the starting track scenery, the synchronous track scenery, the speed track scenery and the command track scenery and drive the respective corresponding mechanical arms to play remote media scenery simultaneously. The control console can effectively conduct centralized control over large numbers of mechanical arms, improve the control efficiency of large numbers of mechanical arms and realize synchronous control over the remote media and the mechanical arms.

Description

Mechanical arm control station and method that multi-track curtain field mode is combined with remote media

Technical field

The present invention relates to performing integration control technology field, more particularly, to multi-track curtain field mode is combined with remote media Mechanical arm control station and method.

Background technology

At present, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and attitude) requires to move, thus completing a certain industrial job requirements instrument. For the service good to stage performance, the output of display and demonstration market, mechanical arm is gradually introduced stage performance and display and demonstration In market.In practice, it has been found that with being introduced into stage performance, the mechanical arm in display and demonstration market gets more and more, how to drawing The a fairly large number of mechanical arm entering to stage performance, display and demonstration market carries out centralized Control, to improve to being introduced to stage The control efficiency of a fairly large number of mechanical arm in performance, display and demonstration market, and how further to realize remote media With the Synchronization Control of mechanical arm such that it is able to preferably service for stage performance, the output of display and demonstration market, be stage performance with The technical barrier that display and demonstration market in urgent need solves.

Content of the invention

The embodiment of the invention discloses a kind of mechanical arm control station that is combined with remote media of multi-track curtain field mode and side Method, can effectively to being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market carries out centralized Control, with Improve to the control efficiency being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market；Can also realize remote The Synchronization Control of journey media and mechanical arm is such that it is able to preferably service for stage performance, the output of display and demonstration market.

Embodiment of the present invention first aspect discloses the mechanical arm control that a kind of multi-track curtain field mode is combined with remote media Method, including：

OPC module is set up data communication by OPC agreement and opc server and is connected, described opc server pass through network with The PLC device of each mechanical arm is set up data communication and is connected；Described OPC module is passed through function interface and is set up with many rails playback module Data communication connects；Many rails playback module sets up data communication by remote media editor's external interface and remote media server Connect；

Many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module is in advance on starting track Generate for carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out overall situation control Make the synchronous geo-stationary orbit scape of all mechanical arms, speed track generates and controls all mechanical arm speed for carrying out the overall situation Speed track scape, generates the robot track scape for identifying each mechanical arm in robot track, raw on order track Become the order track scape for being controlled to mechanical arm, and utilize by remote media editor's external interface from remote media The remote media material obtaining in server generates remote media scape on remote media track；

OPC module by function interface call from many rails playback module described startup track scape, described geo-stationary orbit scape, Described speed track scape, described robot track scape, described order track scape and described remote media scape, and according to described The curtain field mode of many rails playback module setting is cyclically by the described startup track scape calling, described geo-stationary orbit scape, described speed Degree track scape, described order track scape and described remote media scape are sent to described robot track scape by opc server The PLC device of each mechanical arm described being identified so that the PLC device of each mechanical arm described with described startup track scape, Described geo-stationary orbit scape, described speed track scape and described order track scape are each to corresponding mechanical arm according to control, And drive each corresponding mechanical arm is play with described remote media scape simultaneously.

As a kind of optional embodiment, in embodiment of the present invention first aspect, described curtain field mode arranges for curtain field Table schema, single act of pattern or single game pattern；The described curtain field mode according to the setting of described many rails playback module cyclically will call Described startup track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described remote media Scape is sent to the PLC device of each mechanical arm described that described robot track scape is identified by opc server, including：

By under all curtains in the corresponding whole curtain field list of described curtain field list mode of described many rails playback module setting The corresponding initial time in all fields as send the time, the described startup track scape being invoked periodically, described geo-stationary orbit Scape, described speed track scape, described order track scape and described remote media scape are sent to described machine by opc server The PLC device of each mechanical arm described that people's track scape is identified；

Or, by corresponding of all field in the corresponding single curtain of described single act of pattern of described many rails playback module setting Time beginning as send the time, periodically by the described startup track scape calling, described geo-stationary orbit scape, described speed track Scape, described order track scape and described remote media scape are sent to described robot track scape by opc server and are identified Each mechanical arm described PLC device；

Or, by described single game pattern some corresponding initial time corresponding of described many rails playback module setting As the time of transmission, periodically by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, institute State order track scape and described remote media scape by opc server be sent to that described robot track scape identified described The PLC device of each mechanical arm；Wherein, the complementation of the corresponding initial time in different fields is identical；

Methods described also includes：

Described OPC module detects that what user was directed to the corresponding monitoring box of any one mechanical arm touches operation, and responds described Touch and operate the robot detail parameters monitoring any one mechanical arm described by described opc server, described robot is detailed Parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time, its In：

1) described manipulator shaft angle：Including 6 angle parameters of A1-A6, angle parameter scope is -180 ° to 180 °；

2) described robot speed：Each mechanical arm runs the speed of itself, is only permitted display and checks, mustn't change；

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

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

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

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

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

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

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

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

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

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

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

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

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

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 touching operation described in response, any one machine described is monitored by described opc server Before the robot detail parameters of tool arm, methods described also includes：

Detect whether described opc server is bound to allow to monitor that the robot of mechanical arm is detailed by described opc server 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 Cross the step that described opc server monitors the robot detail parameters of any one mechanical arm described；

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 the robot detail parameters monitoring any one mechanical arm described by described opc server.

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

Described OPC module detects that user is directed to the global monitoring instruction of all mechanical arm inputs, and responds described overall situation prison Control instruction monitors the robot global parameter of all mechanical arms by described opc server, and described robot global parameter includes Robot global speed, PLC connection status and the inconsistent warning of speed, wherein：

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

2) described PLC connection status：It is the connection status of PLC device and mechanical arm control station, need by described OPC Server judges display with PLC device connection status；

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

As a kind of optional embodiment, in embodiment of the present invention first aspect, described OPC module detects user's pin After the global monitoring instruction of all mechanical arms input, and described opc server is passed through in response described global monitoring instruction Before monitoring the robot global parameter of all mechanical arms, methods described also includes：

Detect whether described opc server binds the machine allowing to monitor all mechanical arms by described opc server 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 described response described global monitoring instruction of execution monitors the robot global parameter of all mechanical arms by described opc server Step.

Embodiment of the present invention second aspect discloses the mechanical arm control that a kind of multi-track curtain field mode is combined with remote media Platform, including：

OPC module, opc server and many rails playback module, wherein, described OPC module pass through OPC agreement with described Opc server is set up data communication and is connected, and described opc server sets up data by the PLC device of network and each mechanical arm Communication connects；Described OPC module is set up data communication by function interface with described many rails playback module and is connected；Described many rails return Amplification module is set up data communication by remote media editor's external interface with remote media server and is connected；

Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting in advance Generate on track for carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out The overall situation controls the synchronous geo-stationary orbit scape of all mechanical arms, generates and be used for carrying out the overall situation all mechanical arms of control on speed track The speed track scape of speed, generates the robot track scape for identifying each mechanical arm, in order rail in robot track Order track scape for being controlled to mechanical arm is generated on road, and utilizes by remote media editor's external interface from remote The remote media material obtaining in journey media server generates remote media scape on remote media track；

OPC module, for calling described startup track scape, described synchronous rail by function interface from many rails playback module Road scape, described speed track scape, described robot track scape, described order track scape and described remote media scape, and press According to described many rails playback module setting curtain field mode cyclically by the described startup track scape calling, described geo-stationary orbit scape, Described speed track scape, described order track scape and described remote media scape are sent to described robot by opc server The PLC device of each mechanical arm described that track scape is identified, so that the PLC device of each mechanical arm described is with described startup rail Road scape, described geo-stationary orbit scape, described speed track scape and described order track scape are each to corresponding machine according to control Tool arm, and drive each corresponding mechanical arm is play with described remote media scape simultaneously.

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

Described curtain field mode is curtain field list mode, single act of pattern or single game pattern；Described OPC module is according to described many rails The curtain field mode of playback module setting is cyclically by the described startup track scape calling, described geo-stationary orbit scape, described speed rail Road scape, described order track scape and described remote media scape are sent to described robot track scape by opc server and are marked The mode of the PLC device of each mechanical arm described known is specially：

Described OPC module, be additionally operable to detect user be directed to the corresponding monitoring box of any one mechanical arm touch operation, and ring Touch described in answering and operate the robot detail parameters monitoring any one mechanical arm described by described opc server, described machine When people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and always run Between, wherein：

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

Described OPC module be additionally operable to detect user be directed to the corresponding monitoring box of any one mechanical arm touch operation after, And response described in touch operation by described opc server monitor described in any one mechanical arm robot detail parameters it Before, 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 Operation monitors the robot detail parameters of any one mechanical arm described by described opc server.

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

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

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

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

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

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

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

In the embodiment of the present invention, OPC module can by function interface call from many rails playback module startup track scape, Geo-stationary orbit scape, speed track scape, robot track scape, order track scape and remote media scape, further, OPC module Can be according to the curtain field mode of many rails playback module setting cyclically by the startup called track scape, geo-stationary orbit scape, speed rail Road scape, order track scape and remote media scape are sent to, by opc server, each machinery that robot track scape is identified The PLC device of arm, so that the PLC device of each mechanical arm is to start track scape, geo-stationary orbit scape, speed track scape and order Track scape is each to corresponding mechanical arm according to control, and drives each to corresponding mechanical arm playing remote media simultaneously Scape.Obviously, implement in the embodiment of the present invention, can be effectively to being introduced to stage performance, the quantity in display and demonstration market relatively Many mechanical arms carry out centralized Control, to improve to being introduced to stage performance, a fairly large number of machinery in display and demonstration market The control efficiency of arm；The Synchronization Control of remote media and mechanical arm can also be realized such that it is able to be stage performance, display and demonstration Market output preferably services.

Brief description

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below by use required in embodiment Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability For the those of ordinary skill of domain, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings Figure.

Fig. 1 is the mechanical arm controlling party that a kind of multi-track curtain field mode disclosed in the embodiment of the present invention is combined with remote media The schematic flow sheet of method；

Fig. 2 is the mechanical arm control station that a kind of multi-track curtain field mode disclosed in the embodiment of the present invention is combined with remote media Structural representation.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on this Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of not making creative work Apply example, broadly fall into the scope of protection of the invention.

The embodiment of the invention discloses a kind of mechanical arm control station that is combined with remote media of multi-track curtain field mode and side Method, can effectively to being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market carries out centralized Control, with Improve to the control efficiency being introduced to stage performance, a fairly large number of mechanical arm in display and demonstration market；Can also realize remote The Synchronization Control of journey media and mechanical arm is such that it is able to preferably service for stage performance, the output of display and demonstration market.Hereinafter enter Row combines accompanying drawing and is described in detail.

Embodiment one

Refer to Fig. 1, Fig. 1 is the machine that a kind of multi-track curtain field mode disclosed in the embodiment of the present invention is combined with remote media The schematic flow sheet of tool arm control method.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 and opc server and is connected, and described opc server passes through net Network is set up data communication with the PLC device of each mechanical arm and is connected；Described OPC module passes through function interface and many rails playback module Set up data communication to connect；Many rails playback module sets up data by remote media editor's external interface and remote media server Communication connects.

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

102nd, many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module is starting rail in advance Generate on road for carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out entirely Office controls the synchronous geo-stationary orbit scape of all mechanical arms, generates and be used for carrying out overall situation control all mechanical arms speed on speed track The speed track scape of degree, generates the robot track scape for identifying each mechanical arm, in order track in robot track On generate order track scape for being controlled to mechanical arm, and using by remote media editor's external interface from long-range The remote media material obtaining in media server generates remote media scape on remote media track.

In the embodiment of the present invention, many rails playback module can be arranged in mechanical arm control station, and many rails playback module Function interface is connected with OPC module.Wherein, the above-mentioned track scape that starts is many rails playback module according to being drawn to startup track What OPC started that order (belonging to global command) generates in advance on starting track be used for carries out the overall situation and controls all mechanical arms to start Track scape；Above-mentioned geo-stationary orbit scape is that many rails playback module (belongs to complete according to the OPC synch command being drawn to geo-stationary orbit Office's order) generate on geo-stationary orbit in advance control the synchronous track scape of all mechanical arms for carrying out the overall situation；Above-mentioned speed Degree track scape is many rails playback module according to being drawn to OPC general speed order (belonging to global command) of speed track in advance in speed The track scape controlling all mechanical arm speed for carrying out the overall situation generating on degree track；Above-mentioned robot track scape is many rails Playback module is above-mentioned for identifying according to be drawn to that the robot label of robot track generates in advance in robot track The track scape of each mechanical arm；Above-mentioned order track scape is many rails playback module according to the control command being drawn to order track Material in advance on order track generate for the track scape that mechanical arm is controlled；Above-mentioned remote media scape is many rails Playback module is drawn to the remote of remote media track according to by remote media editor's external interface from remote media server The remote media that journey media materials (as remote audio material, long-distance video material etc.) generate in advance on remote media track Scape.

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

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

103rd, OPC module calls described startup track scape, described synchronous rail by function interface from many rails playback module Road scape, described speed track scape, described robot track scape, described order track scape and described remote media scape, and press According to described many rails playback module setting curtain field mode cyclically by the described startup track scape calling, described geo-stationary orbit scape, Described speed track scape, described order track scape and described remote media scape are sent to described robot by opc server The PLC device of each mechanical arm described that track scape is identified, so that the PLC device of each mechanical arm described is with described startup rail Road scape, described geo-stationary orbit scape, described speed track scape and described order track scape are each to corresponding machine according to control Tool arm, and drive each corresponding mechanical arm is play with described remote media scape simultaneously.

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

In the embodiment of the present invention, described curtain field mode can be in curtain field list mode, single act of pattern or single game pattern Any one；Correspondingly, the described curtain field mode according to the setting of described many rails playback module is cyclically by the described startup called Track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described remote media scape pass through OPC The mode that server is sent to the PLC device of each mechanical arm described that described robot track scape is identified can be：

Or, by described single game pattern some corresponding initial time corresponding of described many rails playback module setting As the time of transmission, periodically by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, institute State order track scape and described remote media scape by opc server be sent to that described robot track scape identified described The PLC device of each mechanical arm；Wherein, the complementation of the corresponding initial time in different fields is identical.

Wherein, list mode corresponding endless form in described curtain field is：All under all curtains in whole curtain field list When the corresponding initial time in field reaches, respectively by the described startup track scape calling, described geo-stationary orbit scape, described speed track Scape, described order track scape and described remote media scape are sent to described robot track scape by opc server and are identified Each mechanical arm described PLC device.The corresponding endless form of described single act of pattern is：In single curtain, all fields are corresponding When initial time reaches, respectively by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described Order track scape and described remote media scape by opc server be sent to that described robot track scape identified described each The PLC device of individual mechanical arm.The corresponding endless form of described single game pattern is：Reach in some corresponding initial time When, respectively by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described order track scape with And described remote media scape is sent to, by opc server, each mechanical arm described that described robot track scape is identified PLC device；Such that it is able to realize the personalization control to mechanical arm.

Wherein, curtain is as follows with field time setting：

1. time：Choose the curtain needing setting, its time is set.The duration of time can not be more than beginning Time, such as need to increase time, need first to increase its time started.

2. the time started：Choose the curtain needing setting, its time started is set.

3. duration：The time span of curtain is currently chosen in setting, can be changed its length by arranging the end time.

4. the end time：The end time of curtain is currently chosen in setting, at the end of being changed it by setting duration Between.

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

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

1) state manipulator shaft angle：Including 6 angle parameters of A1-A6, angle parameter scope is -180 ° to 180 °；

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

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

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

Obviously, implement above-mentioned embodiment, only the plurality of different after pre-selection is stored with user's rearrangement The ordering rule corresponding template fingerprint feature of figure, and the unique tags of this ordering rule corresponding template fingerprint feature are Input fingerprint that is identical with the unique tags of the corresponding template fingerprint feature of any one mechanical arm described and touching fingerprint image The phase between fingerprint minutiae in fingerprint minutiae in feature template fingerprint feature corresponding with any one mechanical arm described When exceeding predetermined threshold value like degree, just execute that to touch operation described in described response described arbitrary by described opc server supervision The step of the robot detail parameters of individual mechanical arm, such that it is able to the significant robot improving and monitoring any one mechanical arm described The safety of detail parameters, prevents the robot detail parameters of any one mechanical arm described from wantonly being inquired about and led to by disabled user Data leak.

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

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

If described input fingerprint characteristic is matched with described license user fingerprints feature, whether identification current time is located at In described license access time section；If current time is located in described license access time section, described in the described response of execution Touch the step operating the robot detail parameters monitoring any one mechanical arm described by described opc server.Wherein, described Input fingerprint characteristic and described license user fingerprints feature are matched and are referred to described license user including described input fingerprint characteristic There is pair relationhip between stricture of vagina feature, and described license user fingerprints feature template corresponding with any one mechanical arm described refers to Stricture of vagina feature can be different.

Obviously, implement above-mentioned embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement Ordering rule corresponding template fingerprint feature, and the unique tags of this ordering rule corresponding template fingerprint feature again with institute State any one mechanical arm corresponding template fingerprint feature unique tags are identical and input fingerprint characteristic that touch fingerprint image In fingerprint minutiae template fingerprint feature corresponding with any one mechanical arm described in fingerprint minutiae between similarity When exceeding predetermined threshold value, the license user of opc server binding or the license user binding through opc server is only allowed to be permitted Can other users permit user-defined license access time section, could by opc server supervision described in any one machine The robot detail parameters of tool arm, such that it is able to realize through opc server and any one mechanical arm described dual license it Afterwards, the robot detail parameters of any one mechanical arm described could be monitored by opc server, improve prison such that it is able to significant Depending on the safety of the robot detail parameters of any one mechanical arm described, prevent the robot of any one mechanical arm described from joining in detail The data leak that number is wantonly inquired about and led to by disabled user.

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

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

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

Obviously, implement above-mentioned embodiment, when the instruction of described global monitoring includes key to be verified, and the described overall situation The permission that the key described to be verified that monitoring instruction includes and opc server are bound is monitored all by described opc server 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 that described opc server monitors all mechanical arms, monitor all machineries such that it is able to significant raising The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms from wantonly being inquired about by disabled user and The data leak leading to.

More preferably, in the Mechanical arm control method described by Fig. 1, OPC module is passed through function interface and is played back mould from many rails Described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot track scape, described life is called in block Before making track scape and described remote media scape, methods described is further comprising the steps of：

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

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

2) unbind：Will be unbinding for two scapes；

3) left-justify：Choose multiple scapes, the scape of high order end, as target, the scape chosen is carried out left-justify with view；

4) isometric：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 to 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：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：Jump to next mark position on time shafts；

17) arrange：Eject robot setting interface, the current engineering of setting allows the mechanical arm using and mechanical arm to allow to make Program number.

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

The track attribute setting instruction to track inputs multiple in many rails playback module for the detection user, and respond described track Attribute setting instruction is configured to the track attribute of the plurality of track, wherein：Track attribute can include track name, rail Road locking, track closing, track scape list, track scape operation (duplication, deletion, positioning, renaming) etc..

As a kind of optional embodiment, in detection user is to many rails playback module, the track of multiple track inputs belongs to Property setting instruction after, can according to the setting frequency of the track attribute of the plurality of track counting in advance from high in the end Sequentially, the track attribute of the plurality of track is ranked up, consequently facilitating user's track attribute higher to setting frequency enters Row is quick to be arranged.

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

Embodiment two

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

Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting in advance Generate on track for carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out The overall situation controls the synchronous geo-stationary orbit scape of all mechanical arms, generates and be used for carrying out the overall situation all mechanical arms of control on speed track The speed track scape of speed, generates the robot track scape for identifying each mechanical arm, in order rail in robot track Order track scape for being controlled to mechanical arm is generated on road, and utilizes by remote media editor's external interface from remote The remote media material obtaining in journey media server generates remote media scape on remote media track；Wherein, remote media Communication can be set up by network between editor's external interface and remote media server to be connected；

In the embodiment of the present invention, described curtain field mode is curtain field list mode, single act of pattern or single game pattern；Described OPC The curtain field mode that module is arranged according to described many rails playback module is cyclically by the described startup track scape calling, described synchronous rail Road scape, described speed track scape, described order track scape and described remote media scape are sent to described machine by opc server The mode of the PLC device of each mechanical arm described that device people's track scape is identified is specially：

By under all curtains in the corresponding whole curtain field list of described curtain field list mode of described many rails playback module setting The corresponding initial time in all fields as send the time, the described startup track scape being invoked periodically, described geo-stationary orbit Scape, described speed track scape, described order track scape and described remote media scape are sent to described machine by opc server The PLC device of each mechanical arm described that people's track scape is identified；Or, by described single act of the setting of described many rails playback module In the corresponding single curtain of pattern, the corresponding initial time in all fields is as the time of transmission, periodically by the described startup rail calling Road scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described remote media scape are taken by OPC Business device is sent to the PLC device of each mechanical arm described that described robot track scape is identified；Or, described many rails are played back Described single game pattern some corresponding initial time corresponding of module setting, as the time of transmission, periodically will be called Described startup track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described remote media Scape is sent to the PLC device of each mechanical arm described that described robot track scape is identified by opc server；Wherein, no With field corresponding initial time complementation identical；Wherein, at least one field below a curtain.

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

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

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

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

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

Detect whether described opc server binds the machine allowing to monitor all mechanical arms by described opc server 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, The unique identities label of user is managed as foundation with described control platform, inquires about unique body that described control platform manages user from data base Part corresponding unique legitimate secret of label；Identify in described global monitoring instruction and whether include key to be verified, if described complete Office's monitoring instruction includes described key to be verified, contrasts described key to be verified and described control platform manages the unique key of user Whether identical；If identical, the described response described global monitoring instruction of execution monitors all machineries by described opc server The robot global parameter of arm.

More preferably, in the mechanical arm control station described by Fig. 2, OPC module passes through function interface from many rails playback module In call described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot track scape, described order Before track scape and described remote media scape, OPC module can also carry out following operation：

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, with the scape of high order end in view For target, the scape chosen is carried out left-justify；4) isometric：Choose multiple scapes of same type, with last scape as target, The scape chosen is carried out isometric operation；5) mouse：When selecting other functions, other functions to be made to lose efficacy, Mus need to be switched to Mark state；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：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 Individual：Jump to next mark position on time shafts；17) arrange：Eject robot setting interface, current engineering is set and allows to make Mechanical arm and the program number of mechanical arm permission use.

More preferably, in the mechanical arm control station described by Fig. 2, OPC module can also carry out following operation：Detection user Track attribute setting instruction to track inputs multiple in many rails playback module, and respond described track attribute setting instruction to institute The track attribute stating multiple tracks is configured, wherein：Track attribute can include track name, lock on track, track close, Track scape list, track scape operation (duplication, deletion, positioning, renaming) etc..

As a kind of optional embodiment, in detection user is to many rails playback module, the track of multiple track inputs belongs to Property setting instruction after, OPC module can according to the setting frequency of the track attribute of the plurality of track counting in advance from High order on earth, is ranked up to the track attribute of the plurality of track, consequently facilitating user's rail higher to setting frequency Road attribute is quickly arranged.

In the embodiment of the present invention, mechanical arm control station may also include many rails curtain field module, wherein, many rails playback module The curtain field mode that act field mode arranges as many rails playback module can be called from the module of many rails curtain field by function interface.

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.And, control editor module can also be to the curtain field in the module of many rails curtain field The pattern corresponding time is configured.

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

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, disposable programmable read only memory (One-time Programmable Read-Only Memory, OTPROM), electronics The 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 are deposited Reservoir, magnetic tape storage or can be used in carry or data storage any other medium computer-readable.

The mechanical arm above multi-track curtain field mode a kind of disclosed in the embodiment of the present invention being combined with remote media controls Platform and method are described in detail, and specific case used herein is explained to the principle of the present invention and embodiment State, the explanation of above example is only intended to help and understands the method for the present invention and its core concept；Simultaneously for this area Those skilled in the art, according to the thought of the present invention, all will change, to sum up institute in specific embodiments and applications State, this specification content should not be construed as limitation of the present invention.

Claims

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

OPC module is set up data communication by OPC agreement and opc server and is connected, described opc server pass through network and each The PLC device of mechanical arm is set up data communication and is connected；Described OPC module sets up data by function interface and many rails playback module Communication connects；Many rails playback module sets up data communication even by remote media editor's external interface and remote media server Connect；

Many rails playback module generates track scape in advance on multiple tracks, and that is, many rails playback module generates in advance on starting track For carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out overall situation control institute There is the synchronous geo-stationary orbit scape of mechanical arm, the speed controlling all mechanical arm speed for carrying out the overall situation is generated on speed track Track scape, generates the robot track scape for identifying each mechanical arm in robot track, generates and use on order track In the order track scape that mechanical arm is controlled, and utilize by remote media editor's external interface from remote media service The remote media material obtaining in device generates remote media scape on remote media track；

OPC module calls described startup track scape, described geo-stationary orbit scape, described by function interface from many rails playback module Speed track scape, described robot track scape, described order track scape and described remote media scape, and according to described many rails The curtain field mode of playback module setting is cyclically by the described startup track scape calling, described geo-stationary orbit scape, described speed rail Road scape, described order track scape and described remote media scape are sent to described robot track scape by opc server and are marked The PLC device of each mechanical arm described known, so that the PLC device of each mechanical arm described is with described startup track scape, described Geo-stationary orbit scape, described speed track scape and described order track scape are each to corresponding mechanical arm according to control, and drive Move and each corresponding mechanical arm is play with described remote media scape simultaneously.

2. Mechanical arm control method according to claim 1 is it is characterised in that described curtain field mode is curtain field list mould Formula, single act of pattern or single game pattern；The described curtain field mode according to the setting of described many rails playback module is cyclically by the institute called State startup track scape, described geo-stationary orbit scape, described speed track scape, described order track scape and described remote media scape to lead to Cross the PLC device that opc server is sent to each mechanical arm described that described robot track scape is identified, including：

By the institute under all curtains in the corresponding whole curtain field list of described curtain field list mode of described many rails playback module setting There is the corresponding initial time in field as transmission time, the described startup track scape being invoked periodically, described geo-stationary orbit scape, institute State speed track scape, described order track scape and described remote media scape and described robot rail is sent to by opc server The PLC device of each mechanical arm described that road scape is identified；

Or, when will be corresponding initial for fields all in the corresponding single curtain of described single act of pattern of described many rails playback module setting Between as send the time, periodically by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, Described order track scape and described remote media scape are sent to, by opc server, the institute that described robot track scape is identified State the PLC device of each mechanical arm；

Or, using described many rails playback module setting described single game pattern some corresponding initial time corresponding as The transmission time, periodically by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, described life Make track scape and described remote media scape by opc server be sent to that described robot track scape identified described each The PLC device of mechanical arm；Wherein, the complementation of the corresponding initial time in different fields is identical；

Methods described also includes：

Described OPC module detects that what user was directed to the corresponding monitoring box of any one mechanical arm touches operation, and touches described in responding Operation monitors the robot detail parameters of any one mechanical arm described, described robot detail parameters by described opc server Including manipulator shaft angle, robot speed, it is currently running program number, current run time and total run time, wherein：

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

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

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

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

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

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

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

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

Fingerprint minutiae local according to the fingerprint minutiae local direction description in input fingerprint characteristic and template fingerprint feature Direction describes, and calculates in the fingerprint minutiae template fingerprint feature corresponding with any one mechanical arm described in input fingerprint characteristic Fingerprint minutiae between similarity, obtain fingerprint minutiae similarity；

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

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, any one mechanical arm described is monitored by described opc server Before robot detail parameters, methods described also includes：

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

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

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

Agree to response if receiving described license user and being directed to the described supervision license monitoring that license request returns, identify described prison The permission whether the reception time agreeing to response depending on license is located at described opc server binding is monitored by described opc server 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 State the step that opc server monitors the robot detail parameters of 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 step that operation monitors the robot detail parameters of any one mechanical arm described by described opc server.

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

Described OPC module detects that user is directed to the global monitoring instruction of all mechanical arms inputs, and responds described global monitoring and refer to Order monitors the robot global parameter of all mechanical arms by described opc server, and described robot global parameter includes machine People's global speed, PLC connection status and the inconsistent warning of speed, wherein：

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

2) described PLC connection status：It is the connection status of PLC device and mechanical arm control station, need to service by described OPC Device judges display with PLC device connection status；

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

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

Detect whether described opc server is bound to allow to monitor that the robot of all mechanical arms is complete by described opc server 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 Described response described global monitoring instruction monitors the step of the robot global parameter of all mechanical arms by described opc server Suddenly.

7. the Mechanical arm control method according to any one of claim 1～6 is it is characterised in that OPC module is connect by function Mouth calls described startup track scape, described geo-stationary orbit scape, described speed track scape, described robot from many rails playback module Before track scape, described order track scape and described remote media scape, methods described also includes：

The edit instruction to the pregenerated track scape of tracks multiple in many rails playback module of detection user input, and respond described Edit instruction enters edlin to track scape, wherein, editor includes binding, unbinds, left-justify, isometric, mouse, regional choice, screen Cover, delete, replicating, pasting, cancelling, recovering, labelling, removing, upper one, next and setting, wherein：

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

2) unbind：Will be unbinding for two scapes；

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

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

9) replicate：Choose scape to be replicated, replicated；

10) paste：The scape of duplication is pasted；

11) cancel：Current operation is cancelled a upper mode of operation；

12) recover：Current operation is returned to next mode of operation；

13) labelling：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：Jump to next mark position on time shafts；

17) arrange：Eject robot and interface is set, the current engineering of setting allows the mechanical arm using and mechanical arm to allow use Program number.

8. the mechanical arm control station that a kind of multi-track curtain field mode is combined with remote media 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 sets up data communication even by the PLC device of network and each mechanical arm Connect；Described OPC module is set up data communication by function interface with described many rails playback module and is connected；Described many rails playback module Set up data communication by remote media editor's external interface with remote media server to be connected；

Many rails playback module, for generating track scape in advance on multiple tracks, that is, many rails playback module is starting track in advance On generate for carrying out the startup track scape that the overall situation controls all mechanical arms to start, geo-stationary orbit generates and is used for carrying out the overall situation Control the synchronous geo-stationary orbit scape of all mechanical arms, speed track generates and is used for carrying out the overall situation all mechanical arm speed of control Speed track scape, the robot track scape for identifying each mechanical arm is generated on robot track, on order track Generate the order track scape for being controlled to mechanical arm, and utilize by remote media editor's external interface from long-range matchmaker The remote media material obtaining in body server generates remote media scape on remote media track；

OPC module, for calling described startup track scape, described geo-stationary orbit by function interface from many rails playback module Scape, described speed track scape, described robot track scape, described order track scape and described remote media scape, and according to The curtain field mode of described many rails playback module setting is cyclically by the described startup track scape calling, described geo-stationary orbit scape, institute State speed track scape, described order track scape and described remote media scape and described robot rail is sent to by opc server The PLC device of each mechanical arm described that road scape is identified, so that the PLC device of each mechanical arm described is with described startup track Scape, described geo-stationary orbit scape, described speed track scape and described order track scape are each to corresponding machinery according to control Arm, and drive each corresponding mechanical arm is play with described remote media scape simultaneously.

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

Described curtain field mode is curtain field list mode, single act of pattern or single game pattern；Described OPC module plays back according to described many rails Module setting curtain field mode cyclically by the described startup track scape calling, described geo-stationary orbit scape, described speed track scape, Described order track scape and described remote media scape are sent to, by opc server, the institute that described robot track scape is identified The mode stating the PLC device of each mechanical arm is specially：

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

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

10. mechanical arm control station according to claim 9 it is characterised in that：Described OPC module is additionally operable to detect user's pin To the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation serviced by described OPC Before device monitors the robot detail parameters of any one mechanical arm described, 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 Monitor the robot detail parameters of any one mechanical arm described by described opc server.

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

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 Operation monitors the robot detail parameters of any one mechanical arm described by described opc server.

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

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

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

13. mechanical arm control stations according to claim 12 are it is characterised in that described OPC module detection user is directed to institute After having the global monitoring instruction of mechanical arm input, and response described global monitoring instruction is monitored by described opc server Before the robot global parameter of all mechanical arms, also execute following operation：

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 Described response described global monitoring instruction monitors the robot global parameter of all mechanical arms by described opc server.