CN106393107B - A kind of Mechanical arm control method and mechanical arm console based on multi-track - Google Patents
A kind of Mechanical arm control method and mechanical arm console based on multi-track Download PDFInfo
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- CN106393107B CN106393107B CN201610900256.7A CN201610900256A CN106393107B CN 106393107 B CN106393107 B CN 106393107B CN 201610900256 A CN201610900256 A CN 201610900256A CN 106393107 B CN106393107 B CN 106393107B
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- mechanical arm
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- robot
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- scape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A kind of Mechanical arm control method and mechanical arm console based on multi-track, in this method:OPC modules call the track scape of multiple track pre-generatmg by function interface from more rail playback modules, including start speed track scape, the robot track scape for being used to identify each mechanical arm of robot track pre-generatmg and the order track scape for being controlled mechanical arm of order track pre-generatmg for being used to carry out global all mechanical arm speed of control of the startup track scape for being used to carry out all mechanical arms startups of overall situation control of track pre-generatmg, the geo-stationary orbit scape for carrying out all mechanical arms synchronizations of overall situation control of geo-stationary orbit pre-generatmg, speed track pre-generatmg;The track scape of multiple track pre-generatmg of calling is sent to the PLC device of each mechanical arm by opc server, so that the PLC device of each mechanical arm respectively controls corresponding mechanical arm according to the track scape of multiple track pre-generatmg.Centralized control can be carried out to a fairly large number of mechanical arm, improve control efficiency.
Description
Technical field
The present invention relates to performance integration control technology field more particularly to a kind of Mechanical arm control methods based on multi-track
And mechanical arm console.
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 stage performance, display and demonstration market to export good service, mechanical arm is gradually introduced stage performance and display and demonstration
In market.In practice, it has been found that as the mechanical arm being introduced into stage performance, display and demonstration market is more and more, how effectively
Ground carries out centralized control to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, to improve to introducing
To the control efficiency of a fairly large number of mechanical arm in stage performance, display and demonstration market, so as to be stage performance, exhibition
It shows market output preferably service, is the technical barrier that stage performance is solved with display and demonstration market in urgent need.
Invention content
The embodiment of the invention discloses a kind of Mechanical arm control method based on multi-track and mechanical arm console, Neng Gouyou
Effect ground carries out centralized control to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, improves to introducing
To the control efficiency of a fairly large number of mechanical arm in stage performance, display and demonstration market.
First aspect of the embodiment of the present invention discloses a kind of Mechanical arm control method based on multi-track, including:
OPC modules are established data communication with opc server by OPC agreements and are connect, the opc server by network with
The PLC device of each mechanical arm establishes data communication connection;
The OPC modules call the track scape of multiple track pre-generatmg by function interface from more rail playback modules;Institute
The track scape for stating multiple track pre-generatmg includes starting starting for carrying out global all mechanical arms of control for track pre-generatmg
Start track scape, the overall situation that is used to carry out of geo-stationary orbit pre-generatmg controls geo-stationary orbit scape, the speed rail that all mechanical arms synchronize
Road pre-generatmg for carry out the global speed track scape for controlling all mechanical arm speed, robot track pre-generatmg for marking
Know the robot track scape of each mechanical arm and the order for being controlled mechanical arm of order track pre-generatmg
Track scape;
The track scape of the multiple track pre-generatmg of calling is sent to by the OPC modules by the opc server
The PLC device of each mechanical arm, so that rail of the PLC device of each mechanical arm according to the multiple track pre-generatmg
Road scape respectively controls corresponding mechanical arm.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes:
The OPC modules detection user is directed to the operation that touches of the corresponding monitoring box of any one mechanical arm, and described in response
The robot detail parameters that operation monitors any one mechanical arm by the opc server are touched, the robot is detailed
Parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run time,
In:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle
To the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation serviced by the OPC
Before the robot detail parameters of device monitoring any one mechanical arm, 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 mechanical arm of the corresponding template fingerprint feature of rule 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
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 fingerprint corresponding with any one described 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, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one 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 machine of opc server monitoring
Before the robot detail parameters of tool 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 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 mechanical arm by the opc server.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes:
The OPC modules detection user instructs for the global monitoring of all mechanical arms input, and responds the global prison
Control instruction monitors that the robot global parameter of all mechanical arms, the robot global parameter include by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
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 mechanical arms input, and the response global monitoring instruction passes through the opc server
Before the robot global parameter for monitoring all 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 parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
As an alternative embodiment, in first aspect of the embodiment of the present invention, pass through OPC agreements in OPC modules
Data communication is established with opc server to connect, the opc server establishes number by the PLC device of network and each mechanical arm
The pre- life of multiple tracks is called from more rail playback modules by function interface after communication connection, and in the OPC modules
At track scape before, the method further includes:
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:
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, 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 establishes data by the PLC device of network and each mechanical arm
Communication connection;
The OPC modules, for calling multiple track pre-generatmg from more rail playback modules by function interface
Track scape;The track scape of the multiple track pre-generatmg includes startup track pre-generatmg for carrying out global all machineries of control
The geo-stationary orbit of startup track scape, geo-stationary orbit pre-generatmg that arm starts synchronized for carrying out global all mechanical arms of control
Scape, the speed track scape for carrying out global all mechanical arm speed of control of speed track pre-generatmg, the pre- life of robot track
At for identify each mechanical arm robot track scape and order track pre-generatmg for mechanical arm carry out
The order track scape of control;
The OPC modules, the track scape for being additionally operable to the multiple track pre-generatmg that will be called pass through the opc server
It is sent to the PLC device of each mechanical arm, so that the PLC device of each mechanical arm is according to the pre- life of the multiple track
At track scape respectively corresponding 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 touch operation of the detection user for the corresponding monitoring box of any one mechanical arm, and ring
Answer the robot detail parameters touched operation and monitor any one mechanical arm by the opc server, the machine
People's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation
Between, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to detection user touching after operation for the corresponding monitoring box of any one mechanical arm,
And response described in touch operation by the opc server monitoring described in any one mechanical arm robot detail parameters it
Before, execute following operation:
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 mechanical arm of the corresponding template fingerprint feature of rule 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
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 fingerprint corresponding with any one described 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, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And before robot detail parameters of the operation by opc server monitoring any one mechanical arm, also execute following behaviour
Make:
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 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 robot detail parameters that operation monitors any one mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and described in response
Global monitoring instructs the robot global parameter that all mechanical arms are monitored by the opc server, the robot global ginseng
Number includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
After the OPC modules detection user is for the global monitoring instruction of all mechanical arms input, and described in response
Before global monitoring instructs the robot global parameter for monitoring all mechanical arms by the opc server, be additionally operable to execution with
Lower operation:
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,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
Data communication is established in OPC modules with opc server by OPC agreements to connect, the opc server passes through network
Established after data communication connect with the PLC device of each mechanical arm, and in the OPC modules by function interface from more rails
Before the track scape for calling multiple track pre-generatmg in playback module, the OPC modules also execute following operation:
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:
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 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 call multiple tracks pre- by function interface from more rail playback modules
The track scape of generation, wherein the track scape of multiple track pre-generatmg may include startup track pre-generatmg for carrying out the overall situation
The global all mechanical arms of control that are used to carry out of the startup track scape, geo-stationary orbit pre-generatmg that control all mechanical arms startups synchronize
Geo-stationary orbit scape, speed track pre-generatmg for carrying out global speed track scape, the machine for controlling all mechanical arm speed
People's track pre-generatmg for identify each mechanical arm robot track scape and order track pre-generatmg for pair
The order track scape that mechanical arm is controlled;Further, OPC modules can be by the track scape of multiple track pre-generatmg of calling
The PLC device of each mechanical arm is sent to by opc server, and the PLC device of each mechanical arm can be according to multiple tracks
The track scape of pre-generatmg respectively controls corresponding mechanical arm.Obviously, implement in the embodiment of the present invention, it can be effectively right
The a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market carries out centralized control, so as to improve to drawing
Enter to the control efficiency of a fairly large number of mechanical arm in stage performance, display and demonstration market.
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 diagram of Mechanical arm control method based on multi-track disclosed by the embodiments of the present invention;
Fig. 2 is a kind of structural schematic diagram of mechanical arm console based on multi-track 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 control method based on multi-track and mechanical arm console, Neng Gouyou
Effect ground carries out centralized control to a fairly large number of mechanical arm being introduced in stage performance, display and demonstration market, improves to introducing
To the control efficiency of a fairly large number of mechanical arm in stage performance, display and demonstration market.Attached drawing is combined below to carry out in detail
Thin description.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow of Mechanical arm control method based on multi-track disclosed by the embodiments of the present invention
Schematic diagram.Wherein, the Mechanical arm control method based on multi-track described in Fig. 1 can be applied to mechanical arm console, the machine
Tool arm console, which can be primarily adapted for use in, to be needed to carry out centralized control to a fairly large number of mechanical arm, to improve the dance of control efficiency
The occasions such as platform performance, display and demonstration market.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, opc server by network with
The PLC device of each mechanical arm establishes data communication connection.
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.
102, OPC modules call the track scape of multiple track pre-generatmg by function interface from more rail playback modules;Its
In, the track scape of multiple track pre-generatmg includes starting starting for carrying out global all mechanical arms of control for track pre-generatmg
Start track scape, the overall situation that is used to carry out of geo-stationary orbit pre-generatmg controls geo-stationary orbit scape, the speed rail that all mechanical arms synchronize
Road pre-generatmg for carry out the global speed track scape for controlling all mechanical arm speed, robot track pre-generatmg for marking
Know the robot track scape of above-mentioned each mechanical arm and the order for being controlled mechanical arm of order track pre-generatmg
Track scape.
In the embodiment of the present invention, more rail playback modules can be arranged in mechanical arm console, and more rail playback modules
Function interface is connect with OPC modules.Wherein, to be more rail playback modules start track according to being drawn to above-mentioned startup track scape
What OPC startup orders (belonging to global command) generated on starting track in advance starts for carrying out global all mechanical arms of control
Track scape;Above-mentioned geo-stationary orbit scape is that more rail playback modules (belong to complete according to the OPC synch commands for being drawn to geo-stationary orbit
Office's order) generated on geo-stationary orbit in advance for carrying out the global track scape for controlling all mechanical arms and synchronizing;Above-mentioned speed
Degree track scape is more rail playback modules according to being drawn to the OPC general speeds order (belonging to global command) of speed track in advance in speed
The track scape for carrying out global all mechanical arm speed of control generated on degree track;Above-mentioned robot track scape is more rails
Playback module generates in robot track above-mentioned for identifying in advance according to the robot label for being drawn to robot track
The track scape of each mechanical arm;Above-mentioned order track scape is more rail playback modules according to the control command for being drawn to order track
The track scape for being controlled mechanical arm that material generates on order track in advance.
In the embodiment of the present invention, the track scape for being controlled mechanical arm generated on order track can be used for controlling
The angle of mechanical arm rotation processed, the direction etc. of rotation.
In the embodiment of the present invention, above-mentioned robot track can be a plurality of robot rail customized according to the quantity of mechanical arm
Road can place corresponding robot label (the preselector label of such as mechanical arm) in each robot track;Its
In, a plurality of robot track is mutually parallel, and corresponding robot label (such as mechanical arm placed in a plurality of robot track
The equal labels of preselector number) be aligned on a timeline, so as to realize to being introduced in stage performance, display and demonstration market
A fairly large number of mechanical arm parallel control, so as to preferably improve control efficiency.
103, the track scape of multiple track pre-generatmg of calling is sent to above-mentioned each by OPC modules by opc server
The PLC device of mechanical arm so that the PLC device of above-mentioned each mechanical arm according to the track scape of multiple track pre-generatmg respectively to phase
The mechanical arm answered is controlled.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, following step can also be performed
Suddenly:
OPC modules detection user touches operation for the corresponding monitoring box of any one mechanical arm, and responds this and touch behaviour
Make the robot detail parameters by opc server monitoring any one mechanical arm, wherein robot detail parameters include machine
Device people's shaft angle degree, is currently running program number, current run time and total run time at robot speed, wherein:
1) manipulator shaft angle is stated:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules detect user
For the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation taken by the OPC
It is engaged in before the robot detail parameters of device monitoring any one mechanical arm, following steps can also be performed:
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;Wherein, the ordering rule of the plurality of different figure refers to
The name placement relationship of the plurality of different figure;
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 mechanical arm of the corresponding template fingerprint feature of rule 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
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 fingerprint corresponding with any one described 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, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one mechanical arm by the opc server.
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 mechanical arm are identical and touch the input fingerprint of fingerprint image
The phase between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in feature
When like degree more than predetermined threshold value, it is described any by opc server monitoring just operation to be touched described in the execution response
The step of robot detail parameters of a mechanical arm, so as to significantly improve the robot of monitoring any one mechanical arm
The safety of detail parameters prevents the robot detail parameters of any one mechanical arm from being inquired wantonly and caused by disabled user
Data leak.
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 mechanical arm, following steps can also be first carried out:
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;Optionally, if the input fingerprint
Feature is not matched that with the license user fingerprints feature, then is sent out to the corresponding license user of the license user fingerprints feature
Before sending monitoring license request, it may further determine that whether the input fingerprint characteristic belongs to the license user fingerprints feature
Fingerprint characteristic in same user collection is combined, if belonged to, then it is assumed that the user and institute that the input fingerprint characteristic belongs to
The license user belonging to license user fingerprints feature is stated mutually to be familiar with, it at this time can be corresponding to the license user fingerprints feature
User is permitted to send monitoring license request, so as to permit user prevents strange user to disturb;
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 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 mechanical arm by the opc server.Wherein, described
Input fingerprint characteristic matches with the license user fingerprints feature to be referred to including the input fingerprint characteristic and the license user
There are pairing relationships between line feature, and license user fingerprints feature template corresponding with any one described mechanical arm refers to
Line feature 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 mechanical arm are identical and touch the input fingerprint characteristic of fingerprint image
In fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in fingerprint minutiae between similarity
When more than predetermined threshold value, the opc server license user bound or the license user bound by opc server is only allowed to be permitted
Can other users permitting user-defined license access time section, any one machine described in opc server monitoring could be passed through
The robot detail parameters of tool arm, so as to realize by opc server and any one mechanical arm dual license it
Afterwards, the robot detail parameters that any one mechanical arm could be monitored by opc server, so as to significantly improve prison
Depending on the safety of the robot detail parameters of any one mechanical arm, prevent the robot of any one mechanical arm from joining in detail
Data leak caused by number is 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:
The OPC modules detection user instructs for the global monitoring of all mechanical arms input, and responds the global prison
Control instruction monitors that the robot global parameter of all mechanical arms, the robot global parameter include by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
More preferably, in the Mechanical arm control method described in Fig. 1, the OPC modules detection user is directed to all machineries
After the global monitoring instruction of arm input, and the response global monitoring instruction is organic by opc server monitoring institute
Before the robot global parameter of tool arm, 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 parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
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 mechanical arms is crossed, so as to significantly improve all machineries of monitoring
The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms inquired wantonly by disabled user and
Caused data leak.
More preferably, in the Mechanical arm control method described in Fig. 1, pass through OPC agreements and opc server in OPC modules
Data communication connection is established, the opc server establishes data communication with the PLC device of each mechanical arm by network and connect it
Afterwards, and the OPC modules called from more rail playback modules by function interface multiple track pre-generatmg track scape it
Before, 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:
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.
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 stage performance, exhibition exhibition
Show that a fairly large number of mechanical arm in market carries out centralized control, so as to improve to being introduced to stage performance, display and demonstration
The control efficiency of a fairly large number of mechanical arm in market.
Embodiment two
Referring to Fig. 2, Fig. 2 is a kind of structural schematic diagram of mechanical arm console disclosed by the embodiments of the present invention.Wherein, scheme
Mechanical arm control described in 2, which can be primarily adapted for use in, to be needed to carry out centralized control to a fairly large number of mechanical arm, to improve control
The occasions such as stage performance, the display and demonstration market of efficiency processed.As shown in Fig. 2, the mechanical arm console may comprise steps of:
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 establishes data by the PLC device of network and each mechanical arm
Communication connection;
The OPC modules, for calling multiple track pre-generatmg from more rail playback modules by function interface
Track scape;The track scape of the multiple track pre-generatmg includes startup track pre-generatmg for carrying out global all machineries of control
The geo-stationary orbit of startup track scape, geo-stationary orbit pre-generatmg that arm starts synchronized for carrying out global all mechanical arms of control
Scape, the speed track scape for carrying out global all mechanical arm speed of control of speed track pre-generatmg, the pre- life of robot track
At for identify each mechanical arm robot track scape and order track pre-generatmg for mechanical arm carry out
The order track scape of control;
The OPC modules, the track scape for being additionally operable to the multiple track pre-generatmg that will be called pass through the opc server
It is sent to the PLC device of each mechanical arm, so that the PLC device of each mechanical arm is according to the pre- life of the multiple track
At track scape respectively corresponding mechanical arm is controlled.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to touch operation of the detection user for the corresponding monitoring box of any one mechanical arm, and ring
Answer the robot detail parameters touched operation and monitor any one mechanical arm by the opc server, the machine
People's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation
Between, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to detection user touching after operation for the corresponding monitoring box of any one mechanical arm,
And response described in touch operation by the opc server monitoring described in any one mechanical arm robot detail parameters it
Before, execute following operation:
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 mechanical arm of the corresponding template fingerprint feature of rule 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
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 fingerprint corresponding with any one described 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, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one mechanical arm by the opc server.
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 mechanical arm are identical and touch the input fingerprint of fingerprint image
The phase between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in feature
When like degree more than predetermined threshold value, it is described any by opc server monitoring just operation to be touched described in the execution response
The step of robot detail parameters of a mechanical arm, so as to significantly improve the robot of monitoring any one mechanical arm
The safety of detail parameters prevents the robot detail parameters of any one mechanical arm from being inquired wantonly and caused by disabled user
Data leak.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And before robot detail parameters of the operation by opc server monitoring any one mechanical arm, also execute following behaviour
Make:
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;Optionally, if the input fingerprint
Feature is not matched that with the license user fingerprints feature, then is sent out to the corresponding license user of the license user fingerprints feature
Before sending monitoring license request, it may further determine that whether the input fingerprint characteristic belongs to the license user fingerprints feature
Fingerprint characteristic in same user collection is combined, if belonged to, then it is assumed that the user and institute that the input fingerprint characteristic belongs to
The license user belonging to license user fingerprints feature is stated mutually to be familiar with, it at this time can be corresponding to the license user fingerprints feature
User is permitted to send monitoring license request, so as to permit user prevents strange user to disturb;
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 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 robot detail parameters that operation monitors any one mechanical arm by the opc server.Wherein, the input refers to
Line feature matches with the license user fingerprints feature including the input fingerprint characteristic and the license user fingerprints feature
Between there are pairing relationship, and license user fingerprints feature template fingerprint feature corresponding with any one described mechanical arm
It 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 mechanical arm are identical and touch the input fingerprint characteristic of fingerprint image
In fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in fingerprint minutiae between similarity
When more than predetermined threshold value, the opc server license user bound or the license user bound by opc server is only allowed to be permitted
Can other users permitting user-defined license access time section, any one machine described in opc server monitoring could be passed through
The robot detail parameters of tool arm, so as to realize by opc server and any one mechanical arm dual license it
Afterwards, the robot detail parameters that any one mechanical arm could be monitored by opc server, so as to significantly improve prison
Depending on the safety of the robot detail parameters of any one mechanical arm, prevent the robot of any one mechanical arm from joining in detail
Data leak caused by number is inquired wantonly by disabled user.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and described in response
Global monitoring instructs the robot global parameter that all mechanical arms are monitored by the opc server, the robot global ginseng
Number includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each mechanical arm be carried out at the same time speed setting, when all mechanical arms occur one
A nonsynchronous situation of speed just needs to carry out alarm, and needs to stop mechanical arm operation.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
After the OPC modules detection user is for the global monitoring instruction of all mechanical arms input, and described in response
Before global monitoring instructs the robot global parameter for monitoring all mechanical arms by the opc server, following behaviour is also executed
Make:
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,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
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 mechanical arms is crossed, so as to significantly improve all machineries of monitoring
The safety of the robot global parameter of arm, prevent the robot global parameter of all mechanical arms inquired wantonly by disabled user and
Caused data leak.
More preferably, it in the mechanical arm console described in Fig. 2, is built with opc server by OPC agreements in OPC modules
Vertical data communication connection, the opc server establish data communication with the PLC device of each mechanical arm by network and connect it
Afterwards, and the OPC modules called from more rail playback modules by function interface multiple track pre-generatmg track scape it
Before, following operation can also be performed in OPC modules:
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:
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.
More preferably, in the mechanical arm console described in Fig. 2, following operation can also be performed in OPC modules:
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, 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, it 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, so as to improve to being introduced to stage performance, display and demonstration city
The control efficiency of a fairly large number of mechanical arm in.
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.
Above to a kind of Mechanical arm control method and mechanical arm console based on multi-track disclosed by the embodiments of the present invention
It is described in detail, principle and implementation of the present invention are described for specific case used herein, the above reality
The explanation for applying example is merely used to help understand the method and its core concept of the present invention;Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (13)
1. a kind of Mechanical arm control method based on multi-track and curtain field mode, which is characterized in that including:
OPC modules are established data communication with opc server by OPC agreements and are connect, and opc server passes through network and each machinery
The PLC device of arm establishes data communication connection;
More rail playback modules generate track scape on multiple tracks in advance;The track scape generated on the multiple track includes starting
Startup track scape, the geo-stationary orbit for carrying out all mechanical arms startups of global control that track generates generate complete for carrying out
What geo-stationary orbit scape, the speed track of all mechanical arms synchronizations of office's control generated is used to carry out global all mechanical arm speed of control
Speed track scape, robot track generate for identifying the robot track scape and order track of each mechanical arm
The order track scape for being controlled mechanical arm generated;
OPC modules call the track scape of pre-generatmg on the multiple track by function interface from more rail playback modules,
And the curtain field mode being arranged according to more rail playback modules is cyclically by the rail of pre-generatmg on the multiple track of calling
Road scape is sent to the PLC device of each mechanical arm by the opc server, so that the PLC of each mechanical arm is set
It is standby that corresponding mechanical arm is controlled according to the track scape of pre-generatmg on the multiple track.
2. Mechanical arm control method according to claim 1, which is characterized in that the curtain field mode is curtain field list mould
Formula, single act of pattern or single game pattern;The curtain field mode according to more rail playback module settings is cyclically by the institute of calling
The track scape for stating pre-generatmg on multiple tracks is sent to the PLC device of each mechanical arm by the opc server, packet
It includes:
By the institute under all curtains in the corresponding entire curtain field list of curtain field list mode of more rail playback module settings
There is the corresponding initial time in field as sending time, periodically leads to the track scape of pre-generatmg on the multiple track of calling
Cross the PLC device that the opc server is sent to each mechanical arm;
Alternatively, when starting that all fields in the corresponding single curtain of the single act of pattern of more rail playback module settings is corresponding
Between be used as sending time, the track scape of pre-generatmg on the multiple track of calling is periodically passed through into the opc server
It is sent to the PLC device of each mechanical arm;
Alternatively, using some corresponding corresponding initial time of the single game pattern of the more rail playback modules setting as
The track scape of pre-generatmg on the multiple track of calling is periodically sent to by sending time by the opc server
The PLC device of each mechanical arm;Wherein, the corresponding initial time complementation in different fields is identical;
The method further includes:
The OPC modules detection user is directed to the operation that touches of the corresponding monitoring box of any one mechanical arm, and is touched described in response
Operation monitors the robot detail parameters of any one mechanical arm, the robot detail parameters by the opc server
Including manipulator shaft angle, robot speed, it is currently running program number, current run time and total run 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 mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of 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 mechanical arm is touched after operation, and is touched operation described in response and supervised by the opc server
Before the robot detail parameters of any one mechanical arm, 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 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
Unique mark of the unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described mechanical arm
Sign 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 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 calculates in the fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in input fingerprint characteristic
Fingerprint minutiae between similarity, obtain 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 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 pass through opc server monitoring any one mechanical arm
Before robot detail parameters, 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 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 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 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 mechanical arms input, and responds the global monitoring and refer to
The robot global parameter that all mechanical arms are monitored by the opc server is enabled, the robot global parameter includes machine
People's global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because speed is set
It sets by global speed to be arranged and carries out being carried out at the same time speed setting to each mechanical arm, when a speed occur in all mechanical arms
Nonsynchronous situation is spent just to need to carry out alarm.
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 mechanical arm inputs, and the response global monitoring instruction is monitored by the opc server
Before the robot global parameter of all 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 identities label 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 unique legitimate secret of the control platform management user to compare the key to be verified for check key;If identical,
Execute the robot global parameter that the response global monitoring instruction monitors all mechanical arms by the opc server
The step of.
7. Mechanical arm control method according to claim 6, which is characterized in that in OPC modules by function interface from more
Before the track scape for calling pre-generatmg on multiple tracks in rail playback module, the method further includes:
The edit instruction input by user to the track scape of pre-generatmg on multiple tracks 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, is executed including operation mobile, including deletion
When come into force simultaneously;
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 operation by the multiple scapes for choosing same type using the last one scape as target;
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 use
Program number.
8. a kind of mechanical arm console based on multi-track and curtain field mode, 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 is established data communication by the PLC device of network and each mechanical arm and connected
It connects;
More rail playback modules, for generating track scape on multiple tracks in advance;The track Jing Bao generated on the multiple track
Include start that track generates for carry out it is global control startups track scape that all mechanical arms start, geo-stationary orbit generation is used for
What geo-stationary orbit scape, the speed track that the global all mechanical arms of control of progress synchronize generated is used to carry out global all machineries of control
The robot track scape and life for identifying each mechanical arm that the speed track scape of arm speed, robot track generate
The order track scape for being controlled mechanical arm for enabling track generate;
The OPC modules call pre-generatmg on the multiple track for passing through function interface from more rail playback modules
Track scape, and according to the more rail playback modules setting curtain field mode cyclically will on the multiple track of calling it is pre-
The track scape of generation is sent to the PLC device of each mechanical arm by the opc server, so that each mechanical arm
PLC device corresponding mechanical arm is controlled according to the track scape of pre-generatmg on the multiple track.
9. mechanical arm console according to claim 8, it is characterised in that:
The curtain field mode is curtain field list mode, single act of pattern or single game pattern;The OPC modules are played back according to more rails
The track scape of pre-generatmg on the multiple track of calling is cyclically passed through the opc server by the curtain field mode of module setting
The mode for being sent to the PLC device of each mechanical arm is specially:
By the institute under all curtains in the corresponding entire curtain field list of curtain field list mode of more rail playback module settings
There is the corresponding initial time in field as sending time, periodically leads to the track scape of pre-generatmg on the multiple track of calling
Cross the PLC device that the opc server is sent to each mechanical arm;
Alternatively, when starting that all fields in the corresponding single curtain of the single act of pattern of more rail playback module settings is corresponding
Between be used as sending time, the track scape of pre-generatmg on the multiple track of calling is periodically passed through into the opc server
It is sent to the PLC device of each mechanical arm;
Alternatively, using some corresponding corresponding initial time of the single game pattern of the more rail playback modules setting as
The track scape of pre-generatmg on the multiple track of calling is periodically sent to by sending time by the opc server
The PLC device of each mechanical arm;Wherein, the corresponding initial time complementation in different fields is identical;
The OPC modules are additionally operable to detection user and touch operation for the corresponding monitoring box of any one mechanical arm, and respond institute
It states and touches the robot detail parameters that operation monitors any one mechanical arm by the opc server, the robot is detailed
Thin parameter includes manipulator shaft angle, robot speed, is currently running program number, current run time and total run 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 mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of mechanical arm;
4) current run time:Including the mechanical arm currently running time;
5) total run time:Including the total run time of mechanical arm.
10. mechanical arm console according to claim 9, it is characterised in that:The OPC modules are additionally operable to detection user's needle
To the corresponding monitoring box of any one mechanical arm touch operation after, and response described in touch operation serviced by the OPC
Before the robot detail parameters of device monitoring any one mechanical arm, following operation is executed:
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 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
Unique mark of the unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described mechanical arm
Sign 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 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 calculates in the fingerprint minutiae template fingerprint feature corresponding with any one described mechanical arm in input fingerprint characteristic
Fingerprint minutiae between similarity, obtain 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 robot detail parameters of any one mechanical arm are monitored by the opc server.
11. mechanical arm console according to claim 10, which is characterized in that the OPC modules are judging that fingerprint is thin
After node similarity is more than predetermined threshold value, and touches described in response operation and appoint by the way that opc server monitoring is described
Before the robot detail parameters of one mechanical arm, following operation is also executed:
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 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 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 mechanical arm by the opc server.
12. according to the mechanical arm console described in claim 9,10 or 11, it is characterised in that:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all mechanical arms, and respond the overall situation
Monitoring instruction monitors the robot global parameter of all mechanical arms, the robot global parameter packet by the opc server
Robot global speed, PLC connection status and the inconsistent alarm of speed are included, wherein:
1) the robot global speed:Show the global speed of robot;
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 mechanical arms should be consistent in operational process, because speed is set
It sets by global speed to be arranged and carries out being carried out at the same time speed setting to each mechanical arm, when a speed occur in all mechanical arms
Nonsynchronous situation is spent just to need to carry out alarm.
13. mechanical arm console according to claim 12, which is characterized in that the OPC modules detection user is directed to institute
After having the global monitoring instruction that mechanical arm inputs, and the response global monitoring instruction is monitored by the opc server
Before the robot global parameter of all mechanical arms, following operation is also executed:
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 identities label 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 unique legitimate secret of the control platform management user to compare the key to be verified for check key;If identical,
It executes the response global monitoring instruction and monitors that the robot global of all mechanical arms is joined by the opc server
Number.
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