CN106541402B

CN106541402B - A kind of mechanical arm console and method based on multi-track and curtain field mode

Info

Publication number: CN106541402B
Application number: CN201610900458.1A
Authority: CN
Inventors: 黄石锋; 李株亮; 李志雄; 黄庆杰
Original assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Current assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2018-10-09
Anticipated expiration: 2036-10-14
Also published as: CN106541402A

Abstract

A kind of mechanical arm console and method based on multi-track and curtain field mode, in this method：OPC modules call the track scape of multiple track pre-generatmg from more rail playback modules, include the order track scape for being controlled mechanical arm for carrying out the global speed track scape for controlling all mechanical arm speed, the robot track scape for being used to identify each mechanical arm of robot track generation and order track generate for carrying out the global geo-stationary orbit scape for controlling all mechanical arms synchronizations, the generation of speed track for carrying out the global startup track scape for controlling all mechanical arms startups, geo-stationary orbit generation of startup track generation；The track scape of multiple track pre-generatmg is cyclically sent to the PLC device of each mechanical arm by the curtain field mode being arranged according to more rail playback modules by opc server, and the PLC device of each mechanical arm is controlled according to the track scape of multiple track pre-generatmg respectively to corresponding mechanical arm.Centralized control can be carried out to a fairly large number of mechanical arm, improve control efficiency.

Description

A kind of mechanical arm console and method based on multi-track and curtain field mode

Technical field

The present invention relates to performance integration control technology field more particularly to a kind of machineries based on multi-track and curtain field mode Arm console and method.

Background technology

Currently, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and posture) requires to be moved tool, to complete a certain industrial job requirements. In order to give 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 console and method based on multi-track and curtain field mode, 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 and curtain field mode, packet It includes：

The track scape that more rail playback modules generate 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；

OPC modules call the track of the multiple track pre-generatmg by function interface from more rail playback modules Scape, and the curtain field mode being arranged according to more rail playback modules is cyclically by the rail of the multiple track pre-generatmg 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 respectively corresponding mechanical arm is controlled according to the track scape of the multiple track pre-generatmg.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the curtain field mode arranges for curtain field Table schema, single act of pattern or single game pattern；The curtain field mode according to more rail playback module settings will cyclically call The track scape of the multiple track pre-generatmg the PLC device of each mechanical arm is sent to by the opc server, packet It includes：

It will be under all curtains in the corresponding entire curtain field list of curtain field list mode of more rail playback module settings The corresponding initial time in all fields as sending time, periodically by the track scape of the multiple track pre-generatmg of calling The PLC device of each mechanical arm is sent to by the opc server；

Alternatively, by corresponding of all fields in the corresponding single curtain of the single act of pattern of more rail playback module settings The time begin as sending time, periodically services the track scape of the multiple track pre-generatmg of calling by the OPC Device is sent to the PLC device of each mechanical arm；

Alternatively, by some corresponding corresponding initial time of the single game pattern of more rail playback module settings As sending time, periodically the track scape of the multiple track pre-generatmg of calling is sent by the opc server To 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 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.

Second aspect of the embodiment of the present invention discloses a kind of mechanical arm console based on multi-track and curtain field mode, including：

More rail playback modules, the track scape for being generated on multiple tracks in advance；The rail generated on the multiple track Road scape includes starting be used to carry out startup track scape, geo-stationary orbit that global all mechanical arms of control start that track generates to generate For carry out it is global control that geo-stationary orbit scape, the speed track that all mechanical arms synchronize generate for carrying out global control institute There is the robot track scape for identifying each mechanical arm that the speed track scape of mechanical arm speed, robot track generate And the order track scape for being controlled mechanical arm that order track generates；

The OPC modules call the pre- life of the multiple track for passing through function interface from more rail playback modules At track scape, and it is cyclically that the multiple track of calling is pre- according to the curtain field mode of the more rail playback modules setting 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 respectively corresponding mechanical arm is controlled according to the track scape of the multiple track pre-generatmg.

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

The curtain field mode is curtain field list mode, single act of pattern or single game pattern；The OPC modules are according to more rails The curtain field mode of playback module setting is cyclically serviced the track scape of the multiple track pre-generatmg of calling by the OPC The mode that device is sent to the PLC device of each mechanical arm is specially：

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：

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

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

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：

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.

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：

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.

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；

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：

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.

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, the curtain field mode that OPC modules can be arranged according to more rail playback modules The track scape of multiple track pre-generatmg of calling is cyclically sent to the PLC device of each mechanical arm by opc server, and The PLC device of each mechanical arm respectively can control corresponding mechanical arm according to the track scape of multiple track pre-generatmg. Obviously, implement in the embodiment of the present invention, it can be effectively a fairly large number of in stage performance, display and demonstration market to being introduced to Mechanical arm carries out centralized control, so as to improve a fairly large number of machine to being introduced in stage performance, display and demonstration market The control efficiency of tool arm.

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 of Mechanical arm control method based on multi-track and curtain field mode disclosed by the embodiments of the present invention Schematic diagram；

Fig. 2 is that a kind of structure of mechanical arm console based on multi-track and curtain field mode disclosed by the embodiments of the present invention is shown It is intended to.

Specific implementation mode

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

The embodiment of the invention discloses a kind of mechanical arm console and method based on multi-track and curtain field mode, 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 disclosed by the embodiments of the present invention a kind of based on the control of the mechanical arm of multi-track and curtain field mode The flow diagram of method.Wherein, the Mechanical arm control method based on multi-track and curtain field mode described in Fig. 1 can be applied In mechanical arm console, which, which is primarily adapted for use in, needs to carry out centralized control to a fairly large number of mechanical arm, with Improve the occasions such as stage performance, the display and demonstration market of control efficiency.As shown in Figure 1, the Mechanical arm control method may include Following steps：

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, the track scape that more rail playback modules generate on multiple tracks in advance；The track generated on the multiple track Scape includes starting be used to carry out startup track scape, geo-stationary orbit that global all mechanical arms of control start that track generates to generate Own for carrying out the global control that is used to carry out that global geo-stationary orbit scape, the speed track for controlling all mechanical arms synchronizations generates The speed track scape of mechanical arm speed, robot track generate for identify the robot track scape of each mechanical arm with And the order track scape for being controlled mechanical arm that order track generates.

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, OPC modules call the track scape of multiple track pre-generatmg by function interface from more rail playback modules；With And the curtain field mode that OPC modules are arranged according to more rail playback modules is cyclically by the track scape of multiple track pre-generatmg of calling The PLC device of above-mentioned each mechanical arm is sent to by opc server, so that the PLC device of above-mentioned each mechanical arm is according to more The track scape of a track pre-generatmg respectively controls corresponding mechanical arm.

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

In the embodiment of the present invention, the curtain field mode can be in curtain field list mode, single act of pattern or single game pattern Any one；Correspondingly, the curtain field mode that the OPC modules are arranged according to more rail playback modules is cyclically by the institute of calling The track scape of multiple track pre-generatmg is stated in such a way that the opc server is sent to the PLC device of each mechanical arm Can be：

It will be under all curtains in the corresponding entire curtain field list of curtain field list mode of more rail playback module settings The corresponding initial time in all fields respectively as sending time, periodically by the rail of the multiple track pre-generatmg of calling Road scape is sent to the PLC device of each mechanical arm by the opc server；

Alternatively, by corresponding of all fields in the corresponding single curtain of the single act of pattern of more rail playback module settings The time begin respectively as sending time, the track scape of the multiple track pre-generatmg of calling is periodically passed through into the OPC Server is sent to the PLC device of each mechanical arm；

Alternatively, by some corresponding corresponding initial time of the single game pattern of more rail playback module settings As sending time, periodically the track scape of the multiple track pre-generatmg of calling is sent by the opc server To the PLC device of each mechanical arm；Wherein, the corresponding initial time complementation in different fields is identical.

Wherein, list mode corresponding endless form in the curtain field is：It is all under all curtains in the list of entire curtain field When the corresponding initial time in field reaches, the track scape of multiple track pre-generatmg of calling is sent out by the opc server respectively Give the PLC device of each mechanical arm.The corresponding endless form of the single act of pattern is：All correspondences in single curtain Initial time reach when, the track scape of multiple track pre-generatmg of calling is sent to institute by the opc server respectively State the PLC device of each mechanical arm.The corresponding endless form of the single game pattern is：It is arrived in some corresponding initial time Up to when, the track scape of multiple track pre-generatmg of calling is sent to each mechanical arm by the opc server respectively PLC device；So as to realize the personalization control to mechanical arm.

Wherein, curtain and field time setting are as follows：

1. time：The curtain that needs are arranged is chosen, its time is set.The duration of time, which cannot be more than, to be started Time needs first to increase its time started if you need to increase time.

2. the time started：The curtain that needs are arranged is chosen, its time started is set.

3. duration：The current time span for choosing curtain is set, its length can be changed by the way that the end time is arranged.

4. the end time：The current end time for choosing curtain is set, at the end of being changed it by setting duration Between.

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；

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：

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

Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are The unique tags of template fingerprint feature corresponding with any one described 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：

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 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：

1) the robot global speed：Show the global speed of robot；

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：

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 disclosed by the embodiments of the present invention a kind of based on the control of the mechanical arm of multi-track and curtain field mode The structural schematic diagram of platform.Wherein, mechanical arm control described in Fig. 2, which can be primarily adapted for use in, needs to a fairly large number of mechanical arm Centralized control is carried out, with occasions such as stage performance, the display and demonstration markets of improving control efficiency.As shown in Fig. 2, the mechanical arm control Platform processed 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 OPC modules are additionally operable to the curtain field mode according to more rail playback module settings cyclically by the institute of calling The track scape for stating multiple track pre-generatmg is sent to the PLC device of each mechanical arm by the opc server, so that institute The PLC device for stating each mechanical arm respectively controls corresponding mechanical arm according to the track scape of the multiple track pre-generatmg System.

In the embodiment of the present invention, the curtain field mode is curtain field list mode, single act of pattern or single game pattern；The OPC Module is according to the curtain field mode of more rail playback module settings cyclically by the track of the multiple track pre-generatmg of calling Scape is specially in such a way that the opc server is sent to the PLC device of each mechanical arm：More rails are played back into mould The corresponding initial time in all fields in the corresponding entire curtain field list of curtain field list mode of block setting under all curtains is made For sending time, periodically the track scape of the multiple track pre-generatmg of calling is sent to by the opc server The PLC device of each mechanical arm；Alternatively, by the corresponding single curtain of the single act of pattern of more rail playback module settings In the corresponding initial time in all fields as sending time, periodically by the track scape of the multiple track pre-generatmg of calling The PLC device of each mechanical arm is sent to by the opc server；Alternatively, by more rail playback module settings Some corresponding corresponding initial time of the single game pattern is as sending time, periodically by the multiple of calling The track scape of track pre-generatmg is sent to the PLC device of each mechanical arm by the opc server；Wherein, different The corresponding initial time complementation in field is identical；Wherein, at least one field below a curtain.

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

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：

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.

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

1) the robot global speed：Show the global speed of robot；

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 label for managing user using the control platform inquires unique body of the control platform management user as foundation from database The corresponding unique legitimate secret of part label；Identify in the global monitoring instruction whether include key to be verified, if described complete Office's monitoring instruction includes the key to be verified, compares the unique key of the key to be verified and the control platform management user It is whether identical；If identical, execute the response global monitoring instruction and all machineries are monitored by the opc server The robot global parameter of arm.

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：

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, with the scape of left end in view For target, the scape chosen is subjected to left-justify；4) isometric：The multiple scapes for choosing same type, using the last one scape as target, The scape chosen is subjected to isometric operation；5) mouse：When selecting other functions, to make other disablers, mouse need to be switched to Mark state；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, It 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 It is a：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, to be allowed to make Mechanical arm and mechanical arm allow the program number used.

More preferably, in the mechanical arm console described in Fig. 2, following operation can also be performed in OPC modules：Detect user Instruction is arranged to the track attribute of multiple track inputs in more rail playback modules, and responds the track attribute setting instruction to institute The track attribute for stating multiple tracks is configured, wherein：Track attribute may include track name, lock on track, track close, 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 may also include more rail curtains field module, wherein more rail playback modules Curtain field mode can be called to be used as the curtain field mode that more rail playback modules are arranged from the module of more rail curtains field by function interface.

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.And control editor module can also be to more rail curtains field mould curtain field in the block The pattern corresponding time is configured.

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 console and method based on multi-track and curtain field mode 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

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：

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：

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；

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；

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

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

10) it pastes：The scape replicated is pasted；

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

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

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

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

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

17) it is arranged：It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and 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：

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：

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：

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：

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；

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：

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.