CN106553194A

CN106553194A - Mechanical arm control station and method that a kind of local media is combined with pressure sensitive

Info

Publication number: CN106553194A
Application number: CN201610900161.5A
Authority: CN
Inventors: 黄石锋; 李志雄; 黄庆杰; 李株亮
Original assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Current assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2017-04-05
Anticipated expiration: 2036-10-14
Also published as: CN106553194B

Abstract

Mechanical arm control station and method that a kind of local media is combined with pressure sensitive, in the method：The floor pressure of target mechanical arm region exceedes specified threshold；OPC modules call startup track scape from many rail playback modules, geo-stationary orbit scape, speed track scape, robot track scape, order track scape and local media scape, track scape will be started, geo-stationary orbit scape, speed track scape, order track scape and local media scape are sent to the PLC device of each target mechanical arm that robot track scape is identified by opc server, the PLC device of each target mechanical arm is starting track scape, geo-stationary orbit scape, speed track scape and order track scape are each to corresponding target mechanical arm according to control, and drive each to corresponding target mechanical arm while playing local media scape.Effectively a fairly large number of mechanical arm to being introduced in performance site carries out centralized Control, improves the control efficiency to a fairly large number of mechanical arm；Realize the Synchronization Control of local media and mechanical arm.

Description

Mechanical arm control station and method that a kind of local media is combined with pressure sensitive

Technical field

The present invention relates to integration control technology field is performed, more particularly to a kind of machine combined with pressure sensitive by local media Tool arm control station and method.

Background technology

At present, mechanical arm (belonging to a kind of robot) is mainly used in field of industrial production, it can some object or Spatially the time-varying of pose (position and attitude) requires to move instrument, so as to complete a certain industrial job requirements. In order to export good service to the performance sites such as stage, exhibition room, mechanical arm is gradually introduced the performance sites such as stage, exhibition room In.In practice, it has been found that with the mechanical arm in being introduced into stage performance, display and demonstration market it is more and more, how to being introduced to A fairly large number of mechanical arm of the performance sites such as stage, exhibition room carries out centralized Control, is drilled to being introduced to stage, exhibition room etc. with improving Go out the control efficiency of a fairly large number of mechanical arm in place, and how further to realize that local media is synchronous with mechanical arm Control such that it is able to preferably service for the output of the performance sites such as stage, exhibition room, is that the performance sites such as stage, exhibition room are badly in need of solution Technical barrier certainly.

The content of the invention

The embodiment of the invention discloses a kind of mechanical arm control station that combined with pressure sensitive of local media and method, can Effectively a fairly large number of mechanical arm to being introduced in the performance sites such as stage, exhibition room carries out centralized Control, improves to introducing The control efficiency of a fairly large number of mechanical arm into the performance sites such as stage, exhibition room；Local media can also be realized with machinery The Synchronization Control of arm such that it is able to preferably service for the output of the performance sites such as stage, exhibition room

Embodiment of the present invention first aspect discloses a kind of Mechanical arm control method combined with pressure sensitive by local media, bag Include：

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

The OPC modules detect the floor pressure of each mechanical arm region, and in the floor pressure During more than specified threshold, using the mechanical arm as target mechanical arm；

Many rail playback modules generate track scape in advance on multiple tracks, i.e., many rail playback modules are in advance on track is started Generate for carrying out the startup track scape that global each target mechanical arm of control starts, generate on geo-stationary orbit complete for carrying out The synchronous geo-stationary orbit scape of office's each target mechanical arm of control, generates for carrying out global each target of control on speed track The speed track scape of mechanical arm speed, generates for identifying the robot track of each target mechanical arm in robot track Scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by local The local media material that media editing external interface is obtained from local media main frame generates local matchmaker on local media track Body scape；

OPC modules by function interface call from many rail playback modules it is described startup track scape, the geo-stationary orbit scape, The speed track scape, the robot track scape, the order track scape and the local media scape；Described in calling Start track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape to pass through Opc server is sent to the PLC device of each target mechanical arm that the robot track scape is identified, so that described each The PLC device of individual target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track scape and the life Track scape is made to be according to being each controlled to corresponding target mechanical arm, and to drive each same to corresponding target mechanical arm When play the local media scape.

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

OPC modules detection user touches operation for any one corresponding monitoring box of target mechanical arm, and responds It is described to touch the robot detail parameters operated by any one target mechanical arm described in opc server monitoring, the machine Device people's detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total operation Time, wherein：

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

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

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

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

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

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

Detection is described touch that operation produces touch pressure and touch fingerprint；

Touch described in judging whether pressure touches pressure more than default, if it does, output human-computer interaction interface, the people With the multiple different figures of array way sequencing display on machine interactive interface；

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

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

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

Take the fingerprint minutiae point in the input refinement fingerprint image, and the input refinement fingerprint image is carried out with Track, and the sampled point being input in refinement fingerprint image on crestal line is extracted, and extract the 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 local in input fingerprint characteristic is built Direction describes；

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

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

As a kind of optional embodiment, in embodiment of the present invention first aspect, fingerprint minutiae phase is being judged After exceeding predetermined threshold value like degree, and operation is being touched described in response by described any one mesh of opc server monitoring Before the robot detail parameters of mark mechanical arm, methods described also includes：

Detecting whether the opc server is bound 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, inquire about from data base it is described license user unique identities label it is corresponding license user fingerprints feature；

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

If receiving the license user agrees to response for the monitoring license that the monitoring license request is returned, institute is recognized State monitoring license and agree to whether the reception time of response is located at the permission of opc server binding and passes through the opc server In the license access time section of the robot detail parameters of monitoring mechanical arm；

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

If the input fingerprint characteristic is matched 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 the license access time section, perform described in described response Touch the step of operating the robot detail parameters by opc server monitoring any one target mechanical arm.

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

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

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

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

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

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

If binding has the control platform to manage the unique identities label of 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 that the control platform manages user is inquired about from data base；

Whether key to be verified is included in recognizing the global monitoring instruction, if global monitoring instruction includes institute Key to be verified is stated, the key to be verified is contrasted whether identical with the unique key of the control platform management user；If identical, Perform the robot global that the described response global monitoring instruction monitors all target mechanical arms by the opc server The step of parameter.

Embodiment of the present invention second aspect discloses a kind of mechanical arm control station combined with pressure sensitive by local media, bag Include：

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

The OPC modules, for detecting the floor pressure of each mechanical arm region, and on the floor When pressure exceedes specified threshold, using the mechanical arm as target mechanical arm；

Many rail playback modules, for the generation track scape on multiple tracks in advance, i.e., many rail playback modules are starting in advance Generate on track for carrying out the startup track scape that global each target mechanical arm of control starts, generating on geo-stationary orbit is used for The synchronous geo-stationary orbit scape of global each target mechanical arm of control is carried out, is generated on speed track each for carrying out global control The speed track scape of individual target mechanical arm speed, generates for identifying the robot of each target mechanical arm in robot track Track scape, generates the order track scape for being controlled to each target mechanical arm on order track, and utilization passes through The local media material that local media editor external interface is obtained from local media main frame generates this on local media track Ground media scape；

The OPC modules, are additionally operable to the startup track scape, described is called from many rail playback modules by function interface Geo-stationary orbit scape, the speed track scape, the robot track scape, the order track scape and the local media scape； By the startup track scape for calling, the geo-stationary orbit scape, the speed track scape, the order track scape and described Ground media scape by opc server be sent to the robot track scape identified described in the PLC of each target mechanical arm set It is standby, so that the PLC device of each target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed rail Road scape and the order track scape are according to being each controlled to corresponding target mechanical arm, and to drive each to corresponding Target mechanical arm simultaneously play the local media scape.

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

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

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

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

Judge whether fingerprint minutiae similarity exceedes predetermined threshold value, if it does, perform touching described in described response Operate the robot detail parameters by any one target mechanical arm described in opc server monitoring.

The OPC modules are after judging that fingerprint minutiae similarity exceedes predetermined threshold value, and responding described touching And before robot detail parameters of the operation by opc server monitoring any one target mechanical arm, also perform with Lower operation：

If the input fingerprint characteristic is matched 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 the license access time section, perform described in described response Touch the robot detail parameters operated by any one target mechanical arm described in opc server monitoring.

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

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

Whether key to be verified is included in recognizing the global monitoring instruction, if global monitoring instruction includes institute Key to be verified is stated, the key to be verified is contrasted whether identical with the unique key of the control platform management user；If identical, Perform the robot global that the described response global monitoring instruction monitors all target mechanical arms by the opc server Parameter.

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

In the embodiment of the present invention, the floor pressure of region in performance site can be exceeded specified threshold by OPC modules Mechanical arm as target mechanical arm, and by function interface call from many rail playback modules startup track scape, geo-stationary orbit Scape, speed track scape, robot track scape, order track scape and local media scape, and by the startup track scape for calling, same Step track scape, speed track scape, order track scape and local media scape are sent to robot track scape institute by opc server The PLC device of each target mechanical arm of mark, so that the PLC device of each target mechanical arm is starting track scape, synchronous rail Road scape, speed track scape and order track scape are according to being each controlled to corresponding target mechanical arm, and to drive each Local media scape is played simultaneously to corresponding target mechanical arm.Obviously, implement the embodiment of the present invention, can effectively to introducing A fairly large number of mechanical arm into stage, exhibition room carries out centralized Control, to improve to being introduced to the performance sites such as stage, exhibition room In a fairly large number of mechanical arm control efficiency；The Synchronization Control of local media and mechanical arm can also be realized such that it is able to Preferably service for performance site output.Further, since the floor pressure of target mechanical arm region can more than specified threshold To be that spectators cause into target mechanical arm region, therefore, implement the embodiment of the present invention, only mesh is entered in spectators Each target mechanical arm to being introduced in the performance sites such as stage, exhibition room just concentrated during mark mechanical arm region is controlled System, such that it is able to reduce being controlled a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room on when institute's band The power consumption come.

Description of the drawings

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

Fig. 1 is a kind of stream of the Mechanical arm control method combined with pressure sensitive by local media disclosed in the embodiment of the present invention Journey schematic diagram；

Fig. 2 is a kind of structure of the mechanical arm control station combined with pressure sensitive by local media disclosed in the embodiment of the present invention Schematic diagram.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on this Embodiment in invention, the every other reality obtained under the premise of creative work is not made by those of ordinary skill in the art Example is applied, the scope of protection of the invention is belonged to.

The embodiment of the invention discloses a kind of mechanical arm control station that combined with pressure sensitive of local media and method, can Effectively a fairly large number of mechanical arm to being introduced in the performance sites such as stage, exhibition room carries out centralized Control, improves to introducing The control efficiency of a fairly large number of mechanical arm into the performance sites such as stage, exhibition room.Hereinafter being combined accompanying drawing is carried out in detail Description.

Embodiment one

Fig. 1 is referred to, Fig. 1 is a kind of mechanical arm control combined with pressure sensitive by local media disclosed in the embodiment of the present invention The schematic flow sheet of method processed.Wherein, the Mechanical arm control method combined with pressure sensitive by the local media described by Fig. 1 can be with It is applied to mechanical arm control station.As shown in figure 1, the Mechanical arm control method may comprise steps of：

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

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

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

102nd, OPC modules detect the floor pressure of each mechanical arm region, and exceed finger in the floor pressure When determining threshold value, using the mechanical arm as target mechanical arm.

In the embodiment of the present invention, pressure can be laid with the floor of each mechanical arm region of performance site Sensor matrices, pressure transducer matrix can be connected with the PLC device of mechanical arm, when pressure transducer matrix detects pressure When, pressure can be reported OPC modules by the PLC device of mechanical arm by pressure transducer matrix, so that OPC modules can To detect the floor pressure of each mechanical arm region, and when the floor pressure exceedes specified threshold, by the machinery Arm is used as target mechanical arm.

103rd, many rail playback modules generate track scape in advance on multiple tracks, i.e., many rail playback modules are in advance in startup rail Generate on road for carrying out the startup track scape that global each target mechanical arm of control starts, generate on geo-stationary orbit be used for into The overall situation of going controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates and control each for carrying out the overall situation on speed track The speed track scape of target mechanical arm speed, generates for identifying the robot rail of each target mechanical arm in robot track Road scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by this The local media material that ground media editing external interface is obtained from local media main frame is generated on local media track locally Media scape.

In the embodiment of the present invention, many rail playback modules can be arranged in mechanical arm control station, and many rail playback modules Function interface is connected with OPC modules.Wherein, the above-mentioned track scape that starts is many rail playback modules according to being drawn to startup track OPC start that order (belonging to global command) generated on track is started in advance for carrying out global controlling each target mechanical arm The track scape of startup；Above-mentioned geo-stationary orbit scape is many rail playback modules according to the OPC synch commands (category for being drawn to geo-stationary orbit In global command) what is generated on geo-stationary orbit in advance controls the track scape of each target mechanical arm synchronization for carrying out the overall situation； Above-mentioned speed track scape is many rail playback modules according to OPC general speed orders (belonging to global command) for being drawn to speed track The track scape for carrying out global each target mechanical arm speed of control for generating on speed track in advance；Above-mentioned robot Track scape is many rail playback modules to be generated in robot track in advance according to being drawn to the robot label of robot track For identifying the track scape of each target mechanical arm；Above-mentioned order track scape is many rail playback modules according to being drawn to order rail The control command material in road generate on order track in advance for the track scape that is controlled to each target mechanical arm.On The local media scape stated is many rail playback modules according to being pulled from local media main frame by local media editor external interface Local media material (such as local audio material, local video material etc.) to local media track is in advance in local media track The local media scape of upper generation.

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

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

104th, OPC modules call the startup track scape, the synchronous rail from many rail playback modules by function interface Road scape, the speed track scape, the robot track scape, the order track scape and the local media scape.

105th, OPC modules are by the startup track scape for calling, the geo-stationary orbit scape, the speed track scape, described Order track scape and the local media scape by opc server be sent to that the robot track scape identified it is described each The PLC device of individual target mechanical arm, so that the PLC device of each target mechanical arm is with the startup track scape, described same Step track scape, the speed track scape and the order track scape are according to each controlling to corresponding target mechanical arm System, and drive each to corresponding target mechanical arm while playing the local media scape.

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

Wherein, in the corresponding whole curtain field list of curtain field list mode that many rail playback modules can be arranged by OPC modules The corresponding initial time in all fields under all curtains as send the time, periodically by the startup track scape for calling, institute State geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape to send by opc server To the robot track scape identified described in each target mechanical arm PLC device, such that it is able to realize according to curtain field side Formula carrys out control machinery arm so that the control of mechanical arm can be engaged with performance.

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

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

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

After user is completed to the plurality of different figure rearrangement on the human-computer interaction interface, it is determined that weight The ordering rule of the plurality of different figure after new sort；Wherein, the ordering rule of the plurality of different figure is referred to The name placement relation of the plurality of different figure；

Obviously, implement above-mentioned 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 It is identical with the unique tags of the corresponding template fingerprint feature of described any one target mechanical arm, and touch the input of fingerprint image Fingerprint minutiae in fingerprint minutiae in fingerprint characteristic template fingerprint feature corresponding with described any one target mechanical arm Between similarity when exceeding predetermined threshold value, just perform to touch to operate described in described response and being monitored by the opc server The step of robot detail parameters of any one target mechanical arm, any one mesh described in monitoring is improved such that it is able to significant The safety of the robot detail parameters of mark mechanical arm, prevents the robot detail parameters of any one target mechanical arm non- Method user inquired about and caused data leak wantonly.

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

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

If the input fingerprint characteristic is matched 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 the license access time section, perform described in described response Touch the step of operating the robot detail parameters by opc server monitoring any one target mechanical arm.Wherein, The input fingerprint characteristic is matched with the license user fingerprints feature and is used with the license including the input fingerprint characteristic There is pair relationhip, and license user fingerprints feature mould corresponding with described any one mechanical arm between the fingerprint characteristic of family Plate fingerprint characteristic can be with difference.

Obviously, implement above-mentioned 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 of stating the corresponding template fingerprint feature of any one target mechanical arm are identical, and touch the input fingerprint of fingerprint image Between fingerprint minutiae in fingerprint minutiae in feature template fingerprint feature corresponding with described any one target mechanical arm Similarity when exceeding predetermined threshold value, only allow license user that opc server binds or through being permitted that opc server is bound Can user license other users permit it is user-defined license access time section, could by opc server monitor described in The robot detail parameters of any one target mechanical arm, such that it is able to realize through opc server and described any one target machine After the dual license of tool arm, the robot detail parameters of any one the target mechanical arm could be monitored by opc server, Such that it is able to the significant safety for improving the robot detail parameters of any one target mechanical arm described in monitoring, described appointing is prevented The robot detail parameters of one target mechanical arm are inquired about and caused data leak wantonly by disabled user.

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

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

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

More preferably, in the Mechanical arm control method described by Fig. 1, called from many rail playback modules by function interface The startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape, the order track scape And before the local media scape, methods described is further comprising the steps of：

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

1) bind：Multiple scapes are bound together, the scape of binding is performed including including mobile, deletion as an entirety Come into force during operation simultaneously；

2) unbind：Will be two scapes unbinding；

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

4) it is isometric：Multiple scapes of same type are chosen, with last scape as target, the scape chosen isometric behaviour is carried out into Make；

5) mouse：When selecting other functions, other functions to be caused fail, and need to be switched to mouse state；

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

7) shield：Shielding is mutually done something for the occasion so as to fail；

8) delete：Click on and delete button, be switched to deletion state, click on scape to be deleted, you can delete scape；

9) replicate：Scape to be replicated is chosen, is replicated；

10) paste：The scape for having replicated is pasted；

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

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

13) labelling：Moment on a timeline does corresponding labelling；

14) remove：All labellings on checkout time axle；

15) upper one：Jump to a upper mark position of time shafts；

16) it is next：Jump to next mark position on time shafts；

17) arrange：Eject robot and interface is set, arranging current engineering allows the mechanical arm for using and mechanical arm to allow to make Program number.

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

Detection user arranges instruction to the track attribute of multiple track inputs in many rail playback modules, and responds the track Attribute arranges instruction and the track attribute of the plurality of track is configured, wherein：Track attribute can include track name, rail Road locking, track closing, track scape list, track scape operation (duplication, deletion, positioning, renaming) etc..

As a kind of optional embodiment, the track category of multiple track inputs in detection user is to many rail playback modules Property instruction is set after, can be according to the setting frequency of the track attribute of the plurality of track for having counted in advance from high in the end Sequentially, the track attribute of the plurality of track is ranked up, consequently facilitating user enters to arranging the higher track attribute of frequency Row is quick to be arranged.

Obviously, implement Fig. 1 described by Mechanical arm control method, can effectively to being introduced to stage, exhibition room in number The more mechanical arm of amount carries out centralized Control, to improve a fairly large number of machine to being introduced in the performance sites such as stage, exhibition room The control efficiency of tool arm；The Synchronization Control of local media and mechanical arm can also be realized such that it is able to export more for performance site Good service.Further, since the floor pressure of target mechanical arm region can be that spectators enter target more than specified threshold Mechanical arm region and cause, therefore, implement Fig. 1 described by Mechanical arm control method, only enter target in spectators Each target mechanical arm to being introduced in the performance sites such as stage, exhibition room just concentrated during mechanical arm region is controlled System, such that it is able to reduce being controlled a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room on when institute's band The power consumption come.

Embodiment two

Fig. 2 is referred to, Fig. 2 is a kind of mechanical arm control combined with pressure sensitive by local media disclosed in the embodiment of the present invention The structural representation of platform processed.As shown in Fig. 2 the mechanical arm control station may comprise steps of：

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

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

If the input fingerprint characteristic is matched 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 the license access time section, perform described in described response Touch the robot detail parameters operated by any one target mechanical arm described in opc server monitoring.Wherein, it is described defeated Enter fingerprint characteristic to match including the input fingerprint characteristic and the license user fingerprints with the license user fingerprints feature There is pair relationhip, and license user fingerprints feature template corresponding with described any one target mechanical arm between feature Fingerprint characteristic can be with difference.

More preferably, in the mechanical arm control station described by Fig. 2, the OPC modules are played back from many rails by function interface The startup track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape, described is called in module Before order track scape and the local media scape, OPC modules can also carry out following operation：

2) unbind：Will be two scapes unbinding；

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

9) replicate：Scape to be replicated is chosen, is replicated；

10) paste：The scape for having replicated is pasted；

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

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

13) labelling：Moment on a timeline does corresponding labelling；

14) remove：All labellings on checkout time axle；

15) upper one：Jump to a upper mark position of time shafts；

16) it is next：Jump to next mark position on time shafts；

More preferably, in the mechanical arm control station described by Fig. 2, OPC modules can also carry out following operation：

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

In the embodiment of the present invention, mechanical arm control station is also provided with controlling editor module, and control editor module can be with For editor control order material, editor control order material node and carry out equipment control and (such as mechanical arm tag control, add Plus TCP equipment, server address arrange) etc. operation.

Obviously, implement Fig. 2 described by mechanical arm control station, can effectively to being introduced to stage, exhibition room in quantity More mechanical arm carries out centralized Control, to improve a fairly large number of machinery to being introduced in the performance sites such as stage, exhibition room The control efficiency of arm；The Synchronization Control of local media and mechanical arm can also be realized such that it is able to more preferable for performance site output Service.Further, since the floor pressure of target mechanical arm region can be that spectators enter target machine more than specified threshold Tool arm region and cause, therefore, implement Fig. 2 described by mechanical arm control station, only spectators enter target machinery Each target mechanical arm to being introduced in the performance sites such as stage, exhibition room just concentrated during arm region is controlled, from And the work(brought when being controlled to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room can be reduced Consumption.

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 Instruct related hardware to complete with by program, the program can be stored in a computer-readable recording medium, storage Medium include read only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), read-only optical disc (Compact Disc Read-Only Memory, CD-ROM) or other disk storages, disk memory, magnetic tape storage or can For carrying or computer-readable any other medium of data storage.

A kind of above mechanical arm control station combined with pressure sensitive by local media disclosed in the embodiment of the present invention and side Method is described in detail, and specific case used herein is set forth to the principle and embodiment of the present invention, the above The explanation of embodiment is only intended to help and understands the method for the present invention and its core concept；Simultaneously for the general skill of this area Art personnel, according to the thought of the present invention, will change in specific embodiments and applications, in sum, this Description should not be construed as limiting the invention.

Claims

1. the Mechanical arm control method combined with pressure sensitive by a kind of local media, it is characterised in that include：

OPC modules are set up data communication by OPC agreements and opc server and are connected, and the opc server passes through network and is located at The PLC device of all mechanical arms of performance site zones of different sets up data communication connection；

The OPC modules detect the floor pressure of each mechanical arm region, and exceed in the floor pressure During specified threshold, using the mechanical arm as target mechanical arm；

Many rail playback modules in advance on multiple tracks generate track scape, i.e., many rail playback modules in advance start track on generate For carrying out the startup track scape that global each target mechanical arm of control starts, generate on geo-stationary orbit for carrying out global control The synchronous geo-stationary orbit scape of each target mechanical arm is made, it is mechanical for carrying out global each target of control to generate on speed track The speed track scape of arm speed, generates for identifying the robot track scape of each target mechanical arm in robot track, The order track scape for being controlled to each target mechanical arm is generated on order track, and using by local media volume The local media material that volume external interface is obtained from local media main frame generates local media scape on local media track；

OPC modules call the startup track scape, the geo-stationary orbit scape, described from many rail playback modules by function interface Speed track scape, the robot track scape, the order track scape and the local media scape；By the startup called Track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape pass through OPC Server is sent to the PLC device of each target mechanical arm that the robot track scape is identified so that it is described each The PLC device of target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track scape and the order Track scape be according to being each controlled to corresponding target mechanical arm, and drive each to corresponding target mechanical arm simultaneously Play the local media scape.

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

Touch operation of the OPC modules detection user for any one corresponding monitoring box of target mechanical arm, and respond described Touch the robot detail parameters operated by any one target mechanical arm described in opc server monitoring, the robot When detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and always run Between, wherein：

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

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

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

Touch described in judging whether pressure touches pressure more than default, if it does, output human-computer interaction interface, the man-machine friendship Mutually with the multiple different figures of array way sequencing display on interface；

After user is completed to the plurality of different figure rearrangement on the human-computer interaction interface, it is determined that arranging again The ordering rule of the plurality of different figure after sequence；

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

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

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

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

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

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

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

Detecting whether the opc server is bound 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, with 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 about from data base；

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

If receiving the license user agrees to response for the monitoring license that the monitoring license request is returned, the prison is recognized Agree to whether the reception time of response is located at the permission of opc server binding and is monitored by the opc server depending on license In the license access time section of the robot detail parameters of mechanical arm；

If the reception time is located in the license access time section, performs and operation is touched described in described response by institute The step of stating the robot detail parameters of any one target mechanical arm described in opc server monitoring；

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

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

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

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

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

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

Detecting whether the opc server is bound allows to monitor that the robot of all mechanical arms is complete by the opc server The control platform of office's parameter manages the unique tags of user；

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

Whether key to be verified is included in recognizing the global monitoring instruction, if global monitoring instruction includes described treating Check key, contrasts the key to be verified whether identical with the unique key of the control platform management user；If identical, perform The described response global monitoring instruction monitors the robot global parameter of all target mechanical arms by the opc server The step of.

7. the mechanical arm control station combined with pressure sensitive by a kind of local media, it is characterised in that include：

OPC modules, opc server and many rail playback modules, wherein, the OPC modules are taken with the OPC by OPC agreements Business device sets up data communication connection, and the opc server is by network and all mechanical arms for being located at performance site zones of different PLC device set up data communication connection；

The OPC modules, for detecting the floor pressure of each mechanical arm region, and in the floor pressure During more than specified threshold, using the mechanical arm as target mechanical arm；

Many rail playback modules, for the generation track scape on multiple tracks in advance, i.e., many rail playback modules are starting track in advance On generate for carrying out the startup track scape that global each target mechanical arm of control starts, generate on geo-stationary orbit for carrying out The synchronous geo-stationary orbit scape of global each target mechanical arm of control, generates for carrying out global each mesh of control on speed track The speed track scape of mark mechanical arm speed, generates for identifying the robot track of each target mechanical arm in robot track Scape, generates the order track scape for being controlled to each target mechanical arm on order track, and using by local The local media material that media editing external interface is obtained from local media main frame generates local matchmaker on local media track Body scape；

The OPC modules, are additionally operable to the startup track scape, the synchronization are called from many rail playback modules by function interface Track scape, the speed track scape, the robot track scape, the order track scape and the local media scape；To adjust The startup track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local matchmaker Body scape by opc server be sent to the robot track scape identified described in each target mechanical arm PLC device, with Make the PLC device of each target mechanical arm with the startup track scape, the geo-stationary orbit scape, the speed track scape with And the order track scape is according to being each controlled to corresponding target mechanical arm, and to drive each to corresponding target Mechanical arm plays the local media scape simultaneously.

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

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

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

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

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

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

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

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

The 11. mechanical arm control stations according to claim 8,9 or 10, it is characterised in that：

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

12. mechanical arm control stations according to claim 11, it is characterised in that the OPC modules detection user is directed to institute After having the global monitoring instruction of target mechanical arm input, and the global monitoring instruction is responded by the opc server Before monitoring the robot global parameter of all target mechanical arms, following operation is also performed：

Whether key to be verified is included in recognizing the global monitoring instruction, if global monitoring instruction includes described treating Check key, contrasts the key to be verified whether identical with the unique key of the control platform management user；If identical, perform The described response global monitoring instruction monitors the robot global ginseng of all target mechanical arms by the opc server Number.