CN106553194B - A kind of mechanical arm console that local media is combined with pressure sensitive and method - Google Patents
A kind of mechanical arm console that local media is combined with pressure sensitive and method Download PDFInfo
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- CN106553194B CN106553194B CN201610900161.5A CN201610900161A CN106553194B CN 106553194 B CN106553194 B CN 106553194B CN 201610900161 A CN201610900161 A CN 201610900161A CN 106553194 B CN106553194 B CN 106553194B
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- mechanical arm
- target mechanical
- scape
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of mechanical arm console that local media is combined with pressure sensitive and method, in this method:The floor pressure of target mechanical arm region is more than specified threshold;OPC modules are called from more rail playback modules starts track scape, 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 for each target mechanical arm that robot track scape is identified by opc server, the PLC device of each target mechanical arm is to start track scape, geo-stationary orbit scape, speed track scape and order track scape are according to control respectively to corresponding target mechanical arm, and it drives and local media scape respectively is played simultaneously to corresponding target mechanical arm.Centralized control effectively is carried out to a fairly large number of mechanical arm being introduced in performance site, improves the control efficiency to a fairly large number of mechanical arm;Realize the synchronous control of local media and mechanical arm.
Description
Technical field
The present invention relates to the machines that performance integration control technology field more particularly to a kind of local media are combined with pressure sensitive
Tool 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 the performance sites such as stage, exhibition room to export good service, mechanical arm is gradually introduced the performance sites such as stage, exhibition room
In.In practice, it has been found that as the mechanical arm being introduced into stage performance, display and demonstration market 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 with improving being introduced to stage, exhibition room etc.
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 is that the performance sites such as stage, exhibition room are badly in need of solution so as to export preferably service for performance sites such as stage, exhibition rooms
Technical barrier certainly.
Invention content
The mechanical arm console and method combined with pressure sensitive the embodiment of the invention discloses a kind of local media, can
Centralized control effectively is carried out to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room, is improved to introducing
To the control efficiency of a fairly large number of mechanical arm in the performance sites such as stage, exhibition room;It can also realize local media and machinery
The synchronous control of arm, so as to export preferably service for performance sites such as stage, exhibition rooms
First aspect of the embodiment of the present invention discloses a kind of Mechanical arm control method that local media is combined with pressure sensitive, packet
It includes:
OPC modules are established data communication with opc server by OPC agreements and are connect, the opc server by network with
Data communication connection is established positioned at the PLC device of all mechanical arms of performance site different zones;
The OPC modules detect the floor pressure of each mechanical arm region, and in the floor pressure
When more than specified threshold, using the mechanical arm as target mechanical arm;
More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are in advance on starting track
It generates for carrying out the global startup track scape for controlling each target mechanical arm and starting, is generated on geo-stationary orbit complete for carrying out
Office controls the geo-stationary orbit scape that each target mechanical arm synchronizes, and is generated on speed track and controls each target for carrying out the overall situation
The speed track scape of mechanical arm speed generates the robot track for identifying each target mechanical arm in robot track
Scape generates the order track scape for being controlled each target mechanical arm on order track, and utilizes and pass through local
Media editing external interface generates local matchmaker from the local media material obtained in local media host on local media track
Body scape;
OPC modules called from more 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 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 for each target mechanical arm that the robot track scape is identified, so that described each
The PLC device of a target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed track scape and the life
It is and to drive respectively same to corresponding target mechanical arm according to respectively controlling corresponding target mechanical arm to enable track scape
When play the local media scape.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method further includes:
The OPC modules detection user touches operation for any one corresponding monitoring box of target mechanical arm, and responds
The robot detail parameters touched operation and monitor any one target mechanical arm by the opc server, the machine
Device people's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and total operation
Time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, Bu Xuxiu
Change;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle
To any one corresponding monitoring box of target mechanical arm touch operation after, and response described in touch operation pass through the OPC
Before the robot detail parameters of any one target mechanical arm described in server monitors, the method further includes:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described target mechanical arm of the corresponding template fingerprint feature of rule
Unique tags it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template corresponding with any one described target mechanical arm calculated in input fingerprint characteristic refers to
The similarity between fingerprint minutiae in line feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one target mechanical arm by the opc server.
As an alternative embodiment, in first aspect of the embodiment of the present invention, fingerprint minutiae phase is being judged
After being more than predetermined threshold value like degree, and touches described in response operation and pass through any one described mesh of opc server monitoring
Before the robot detail parameters for marking mechanical arm, the method further includes:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the step of operation monitors the robot detail parameters of any one target mechanical arm by the opc server.
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 target mechanical arms input, and responds described complete
Office's monitoring instruction monitors the robot global parameter of all target mechanical arms, the robot global by the opc server
Parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because
The setting of speed can only be arranged by global speed to be carried out being carried out at the same time speed setting to each target mechanical arm, when all targets
There is a nonsynchronous situation of speed and just needs to carry out alarm in mechanical arm, and needs to stop the operation of target mechanical arm.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the OPC modules detect user's needle
After the global monitoring instruction of all target mechanical arms input, and the response global monitoring instruction is taken by the OPC
Before business device monitors the robot global parameter of all target mechanical arms, the method further includes:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server
The step of parameter.
Second aspect of the embodiment of the present invention discloses a kind of mechanical arm console that local media is combined with pressure sensitive, packet
It includes:
OPC modules, opc server and more rail playback modules, wherein the OPC modules by OPC agreements with it is described
Opc server establishes data communication connection, and the opc server is organic by network and the institute positioned at performance site different zones
The PLC device of tool arm establishes data communication connection;
The OPC modules, the floor pressure for detecting each mechanical arm region, and on the floor
When pressure is more than specified threshold, using the mechanical arm as target mechanical arm;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting in advance
It is generated on track for carrying out the global startup track scape for controlling each target mechanical arm and starting, generates and be used on geo-stationary orbit
The global geo-stationary orbit scape for controlling each target mechanical arm and synchronizing is carried out, is generated on speed track each for carrying out global control
The speed track scape of a target mechanical arm speed generates the robot for identifying each target mechanical arm in robot track
Track scape generates the order track scape for being controlled each target mechanical arm on order track, and utilizes and pass through
Local media editor external interface generates this from the local media material obtained in local media host on local media track
Ground media scape;
The OPC modules are additionally operable to call the startup track scape, described from more 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 of calling, the geo-stationary orbit scape, the speed track scape, the order track scape and described
The PLC that ground media scape is sent to each target mechanical arm that the robot track scape is identified by opc server is 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 and to drive respectively to corresponding according to respectively controlling corresponding target mechanical arm
Target mechanical arm simultaneously play the local media scape.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to detection user and touch operation for any one corresponding monitoring box of target mechanical arm,
And the robot detail parameters that operation monitors any one target mechanical arm by the opc server are touched described in responding,
The robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and
Total run time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, Bu Xuxiu
Change;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to touch operation for any one corresponding monitoring box of target mechanical arm in detection user
Later, and described in response it touches operation and monitors that the robot of any one target mechanical arm is detailed by the opc server
Before thin parameter, following operation is executed:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described target mechanical arm of the corresponding template fingerprint feature of rule
Unique tags it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template corresponding with any one described target mechanical arm calculated in input fingerprint characteristic refers to
The similarity between fingerprint minutiae in line feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one target mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And operation by the opc server monitoring described in any one target mechanical arm robot detail parameters before, also execute with
Lower operation:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is detailed by the opc server
The unique identities label of the license user of thin parameter;
If binding have it is described license user unique identities label, with it is described license user unique identities label be according to
According to, inquired from database it is described license user the corresponding license user fingerprints feature of unique identities label;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint
Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature
Depending on license request, the monitoring license request includes the label of any one mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all target mechanical arms, and respond
The global monitoring instruction monitors the robot global parameter of all target mechanical arms, the machine by the opc server
People's global parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because
The setting of speed can only be arranged by global speed to be carried out being carried out at the same time speed setting to each target mechanical arm, when all targets
There is a nonsynchronous situation of speed and just needs to carry out alarm in mechanical arm, and needs to stop the operation of target mechanical arm.
As an alternative embodiment, in second aspect of the embodiment of the present invention:
After the OPC modules detection user is for the global monitoring instruction of all target mechanical arms input, and response
Before the global monitoring instruction monitors the robot global parameter of all target mechanical arms by the opc server, also hold
The following operation of row:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server
Parameter.
Compared with prior art, the embodiment of the present invention has following advantageous effect:
In the embodiment of the present invention, the floor pressure of region in performance site can be more than specified threshold by OPC modules
Mechanical arm as target mechanical arm, and called from more rail playback modules by function interface and start 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 of 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 to start track scape, synchronous rail
Road scape, speed track scape and order track scape are and to drive each according to respectively controlling corresponding target mechanical arm
Local media scape is played to corresponding target mechanical arm simultaneously.Obviously, implement the embodiment of the present invention, it can be effectively to introducing
Centralized control is carried out to a fairly large number of mechanical arm in stage, exhibition room, 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 synchronous control that can also realize local media and mechanical arm, so as to
Preferably service is exported for performance site.Further, since the floor pressure of target mechanical arm region can more than specified threshold
To be that spectators enter caused by target mechanical arm region, therefore, implements the embodiment of the present invention, only enter mesh in spectators
That is just concentrated when marking mechanical arm region controls each target mechanical arm being introduced in the performance sites such as stage, exhibition room
System, when institute's band is controlled so as to reduce to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room
The power consumption come.
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 the stream for the Mechanical arm control method that a kind of local media disclosed by the embodiments of the present invention is combined with pressure sensitive
Journey schematic diagram;
Fig. 2 is the structure for the mechanical arm console that a kind of local media disclosed by the embodiments of the present invention is combined with pressure sensitive
Schematic diagram.
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 mechanical arm console and method combined with pressure sensitive the embodiment of the invention discloses a kind of local media, can
Centralized control effectively is carried out to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room, is improved to introducing
To the control efficiency of a fairly large number of mechanical arm in the performance sites such as stage, exhibition room.Attached drawing is combined below to carry out in detail
Description.
Embodiment one
Referring to Fig. 1, Fig. 1 is the mechanical arm control that a kind of local media disclosed by the embodiments of the present invention is combined with pressure sensitive
The flow diagram of method processed.Wherein, the Mechanical arm control method that local media described in Fig. 1 is combined with pressure sensitive can be with
Applied to mechanical arm console.As shown in Figure 1, the Mechanical arm control method may comprise steps of:
101, OPC modules are established data communication with opc server by OPC agreements and are connect, and the opc server passes through net
Network is established data communication with the PLC device of all mechanical arms positioned at performance site different zones and is connect.
In the embodiment of the present invention, OPC modules refer to the object connection and embedded (i.e. OLE for for process control
Process Control) module, OPC modules may include that OPC controls and robot monitor two big functions.Opc server refers to
RSLinx opc servers, OPC modules and opc server can be arranged in mechanical arm console, and OPC modules mainly pass through
(i.e. Programmable Logic Controller may be programmed by the server of RSLinx OPC Server and the PLC of mechanical arm
Logic controller) equipment carries out data interaction, and it is the interface module that mechanical arm console carries out mechanical arm control.
In the embodiment of the present invention, performance site may exist multiple and different regions, each region can be laid out a machine
Tool arm.
102, OPC modules detect the floor pressure of each mechanical arm region, and are more than to refer 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 under the floor of each mechanical arm region of performance site
Sensor matrices, pressure sensor matrix can be connect with the PLC device of mechanical arm, when pressure sensor matrix detects pressure
When, pressure can be reported to OPC modules by pressure sensor matrix by the PLC device of mechanical arm, so that OPC modules can
To detect the floor pressure of each mechanical arm region, and when the floor pressure is more than specified threshold, by the machinery
Arm is as target mechanical arm.
103, more rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules are starting rail in advance
Generated on road for carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for into
The global geo-stationary orbit scape for controlling each target mechanical arm and synchronizing of row generates each for carrying out global control on speed track
The speed track scape of target mechanical arm speed generates the robot rail for identifying each target mechanical arm in robot track
Road scape generates the order track scape for being controlled each target mechanical arm on order track, and utilizes and pass through this
Ground media editing external interface generates locally from the local media material obtained in local media host on local media track
Media scape.
In the embodiment of the present invention, more rail playback modules can be arranged in mechanical arm console, and more rail playback modules
Function interface is connect with OPC modules.Wherein, to be more rail playback modules start track according to being drawn to above-mentioned startup track scape
OPC starts the overall situation that is used to carry out that order (belonging to global command) generates on starting track in advance and controls each target mechanical arm
The track scape of startup;Above-mentioned geo-stationary orbit scape is that more rail playback modules (belong to according to the OPC synch commands for being drawn to geo-stationary orbit
In global command) what is generated on geo-stationary orbit in advance controls the track scape of each target mechanical arm synchronization for carrying out the overall situation;
Above-mentioned speed track scape is more rail playback modules according to the OPC general speeds order (belonging to global command) for being drawn to speed track
The track scape for carrying out the global each target mechanical arm speed of control generated on speed track in advance;Above-mentioned robot
Track scape is that more rail playback modules generate in robot track in advance according to the robot label for being drawn to robot track
Track scape for identifying each target mechanical arm;Above-mentioned order track scape is more rail playback modules according to being drawn to order rail
The track scape for being controlled each target mechanical arm that the control command material in road generates on order track in advance.On
The local media scape stated is that more rail playback modules are pulled according to by local media editor external interface from local media host
To local media track local media material (such as local audio material, local video material) in advance in local media track
The local media scape of upper generation.
In the embodiment of the present invention, the track scape for being controlled each target mechanical arm generated on order track can
For controlling the angle of each target mechanical arm rotation, the direction etc. of rotation.
In the embodiment of the present invention, above-mentioned robot track can be a plurality of machine customized according to the quantity of target mechanical arm
People's track can place corresponding target robot label (such as preselector of target mechanical arm in each robot track
Number equal labels);Wherein, a plurality of robot track is mutually parallel, and the corresponding target machine placed in a plurality of robot track
Device people label (the preselector label of such as target mechanical arm) is aligned on a timeline, so as to realize to being introduced to dance
The parallel control of a fairly large number of mechanical arm in the performance sites such as platform, exhibition room, so as to preferably improve control efficiency.
104, OPC modules call the startup track scape, the synchronous rail by function interface from more rail playback modules
Road scape, the speed track scape, the robot track scape, the order track scape and the local media scape.
105, OPC modules are by the startup track scape of 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 the robot track scape identified it is described each
The PLC device of a target mechanical arm, so that the PLC device of each target mechanical arm is with the startup track scape, described same
It is according to respectively being controlled to corresponding target mechanical arm to walk track scape, the speed track scape and the order track scape
System, and drive and the local media scape respectively is played simultaneously to corresponding target mechanical arm.
Wherein, the PLC device of each target mechanical arm is with the startup track scape, the geo-stationary orbit scape, the speed
Track scape and the order track scape are foundation, to respectively to corresponding target mechanical arm carry out startup control, synchronous control,
Speed control and the corresponding control (such as rotating counterclockwise specified duration) of order control material.
Wherein, in the corresponding entire curtain field list of curtain field list mode that more rail playback modules can be arranged for OPC modules
The corresponding initial time in all fields under all curtains is as sending time, periodically by the startup track scape of calling, institute
Geo-stationary orbit scape, the speed track scape, the order track scape and the local media scape is stated to send by opc server
To the PLC device for each target mechanical arm that the robot track scape is identified, so as to realize according to curtain field side
Formula carrys out control machinery arm so that the control of mechanical arm can be matched with performance.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, following step can also be performed
Suddenly:
The OPC modules detection user touches operation for any one corresponding monitoring box of target mechanical arm, and responds
The robot detail parameters touched operation and monitor any one target mechanical arm by the opc server, the machine
Device people's detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and total operation
Time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, Bu Xuxiu
Change;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
As an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules detect user
For any one corresponding monitoring box of target mechanical arm touch operation after, and touch described in response operation pass through it is described
Before the robot detail parameters of opc server monitoring any one target mechanical arm, following steps can also be performed:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;Wherein, the ordering rule of the plurality of different figure refers to
The name placement relationship of the plurality of different figure;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described target mechanical arm of the corresponding template fingerprint feature of rule
Unique tags it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template corresponding with any one described target mechanical arm calculated in input fingerprint characteristic refers to
The similarity between fingerprint minutiae in line feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the step of robot detail parameters of any one target mechanical arm by the opc server.
Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are
The unique tags of template fingerprint feature corresponding with any one described target mechanical arm are identical and touch the input of fingerprint image
The fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in fingerprint characteristic
Between similarity when being more than predetermined threshold value, just execute to touch to operate described in the response and being monitored by the opc server
The step of robot detail parameters of any one target mechanical arm, so as to significantly improve any one described mesh of monitoring
The safety for marking the robot detail parameters of mechanical arm prevents the robot detail parameters of any one target mechanical arm non-
Data leak caused by method user inquires wantonly.
More preferably, as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, OPC modules exist
After judging that fingerprint minutiae similarity is more than predetermined threshold value, and touches described in response operation and serviced by the OPC
Before the robot detail parameters of device monitoring any one target mechanical arm, following steps can also be first carried out:
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 target mechanical arm;Optionally, if the input
Fingerprint characteristic is not matched that with the license user fingerprints feature, then is used to the corresponding license of the license user fingerprints feature
Before family sends monitoring license request, it may further determine that the input fingerprint characteristic is characterized in the license user fingerprints
The no fingerprint characteristic belonged to during same user's collection is combined, if belonged to, then it is assumed that the user that the input fingerprint characteristic belongs to
Mutually it is familiar with the license user belonging to the license user fingerprints feature, it at this time can be to the license user fingerprints feature pair
The license user answered sends monitoring license request, so as to permit user prevents strange user to disturb;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the step of operation monitors the robot detail parameters of any one target mechanical arm by the opc server.Wherein,
The input fingerprint characteristic matches with the license user fingerprints feature to be used including the input fingerprint characteristic and the license
There are pairing relationship between the fingerprint characteristic of family, and license user fingerprints feature mould corresponding with any one described mechanical arm
Plate fingerprint characteristic can be different.
Obviously, implement the above embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule, and the unique tags of the corresponding template fingerprint feature of the ordering rule again with institute
The unique tags for stating the corresponding template fingerprint feature of any one target mechanical arm are identical and touch the input fingerprint of fingerprint image
Between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in feature
Similarity be more than predetermined threshold value when, only allow opc server bind license user or by opc server bind permitted
Can the other users of user's license permitting user-defined license access time section, could be monitored by opc server described in
The robot detail parameters of any one target mechanical arm, so as to realize by opc server and any one described target machine
After the dual license of tool arm, the robot detail parameters of any one target mechanical arm could be monitored by opc server,
So as to significantly improve the safety of the robot detail parameters of any one target mechanical arm described in monitoring, described appoint is prevented
Data leak caused by the robot detail parameters of one target mechanical arm are inquired wantonly by disabled user.
More preferably, it as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, can also wrap
Include following steps:
The OPC modules detection user instructs for the global monitoring of all target mechanical arms input, and responds described complete
Office's monitoring instruction monitors the robot global parameter of all target mechanical arms, the robot global by the opc server
Parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because
The setting of speed can only be arranged by global speed to be carried out being carried out at the same time speed setting to each target mechanical arm, when all targets
There is a nonsynchronous situation of speed and just needs to carry out alarm in mechanical arm, and needs to stop the operation of target mechanical arm.
More preferably, in the Mechanical arm control method described in Fig. 1, the OPC modules detection user is directed to all targets
After the global monitoring instruction of mechanical arm input, and the response global monitoring instruction monitors institute by the opc server
Before having the robot global parameter of target mechanical arm, the method further includes:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server
The step of parameter.
Obviously, implement the above embodiment, when global monitoring instruction includes key to be verified, and the overall situation
What the key to be verified and opc server that monitoring instruction includes were bound allows all by opc server monitoring
When the corresponding unique legitimate secret of unique tags of the control platform management user of the robot global parameter of mechanical arm is identical, Cai Nengtong
The robot global parameter that the opc server monitors all target mechanical arms is crossed, it is all so as to significantly improve monitoring
The safety of the robot global parameter of target mechanical arm prevents the robot global parameter of all target mechanical arms from illegally being used
Data leak caused by family is inquired wantonly.
More preferably, it in the Mechanical arm control method described in Fig. 1, is called from more 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, 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, number that can effectively to being introduced in stage, exhibition room
It measures more mechanical arm and 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 synchronous control that can also realize local media and mechanical arm, so as to be exported more for performance site
Good service.Further, since it can be that spectators enter target that the floor pressure of target mechanical arm region, which is more than specified threshold,
Caused by mechanical arm region, therefore, implements Mechanical arm control method described in Fig. 1, only enter target in spectators
That is just concentrated when mechanical arm region controls each target mechanical arm being introduced in the performance sites such as stage, exhibition room
System, when institute's band is controlled so as to reduce to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room
The power consumption come.
Embodiment two
Referring to Fig. 2, Fig. 2 is the mechanical arm control that a kind of local media disclosed by the embodiments of the present invention is combined with pressure sensitive
The structural schematic diagram of platform processed.As shown in Fig. 2, the mechanical arm console may comprise steps of:
OPC modules, opc server and more rail playback modules, wherein the OPC modules by OPC agreements with it is described
Opc server establishes data communication connection, and the opc server is organic by network and the institute positioned at performance site different zones
The PLC device of tool arm establishes data communication connection;
The OPC modules, the floor pressure for detecting each mechanical arm region, and on the floor
When pressure is more than specified threshold, using the mechanical arm as target mechanical arm;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting in advance
It is generated on track for carrying out the global startup track scape for controlling each target mechanical arm and starting, generates and be used on geo-stationary orbit
The global geo-stationary orbit scape for controlling each target mechanical arm and synchronizing is carried out, is generated on speed track each for carrying out global control
The speed track scape of a target mechanical arm speed generates the robot for identifying each target mechanical arm in robot track
Track scape generates the order track scape for being controlled each target mechanical arm on order track, and utilizes and pass through
Local media editor external interface generates this from the local media material obtained in local media host on local media track
Ground media scape;
The OPC modules are additionally operable to call the startup track scape, described from more 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 of calling, the geo-stationary orbit scape, the speed track scape, the order track scape and described
The PLC that ground media scape is sent to each target mechanical arm that the robot track scape is identified by opc server is 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 and to drive respectively to corresponding according to respectively controlling corresponding target mechanical arm
Target mechanical arm simultaneously play the local media scape.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to detection user and touch operation for any one corresponding monitoring box of target mechanical arm,
And the robot detail parameters that operation monitors any one target mechanical arm by the opc server are touched described in responding,
The robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and
Total run time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, Bu Xuxiu
Change;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to touch operation for any one corresponding monitoring box of target mechanical arm in detection user
Later, and described in response it touches operation and monitors that the robot of any one target mechanical arm is detailed by the opc server
Before thin parameter, following operation is executed:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the people
With figure that array way sequencing display is multiple and different on machine interactive interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, weight is determined
The ordering rule of the plurality of different figure after new sort;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the sequence if be stored with
The unique tags template fingerprint feature whether corresponding with any one described target mechanical arm of the corresponding template fingerprint feature of rule
Unique tags it is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image
Segmentation, image enhancement, image binaryzation and micronization processes obtain input refinement fingerprint image;
Take the fingerprint minutiae point in the input refines fingerprint image, and to the input refine fingerprint image carry out with
Track, and the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refinement fingerprint image
The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in structure input fingerprint characteristic is local
Direction describes;
According to the fingerprint minutiae of fingerprint minutiae local direction description and template fingerprint feature in input fingerprint characteristic
Local direction describes, and the fingerprint minutiae template corresponding with any one described target mechanical arm calculated in input fingerprint characteristic refers to
The similarity between fingerprint minutiae in line feature, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, is touched described in the response if it does, executing
Operation monitors the robot detail parameters of any one target mechanical arm by the opc server.
Obviously, implement the above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule of figure, and the unique tags of the corresponding template fingerprint feature of the ordering rule are
The unique tags of template fingerprint feature corresponding with any one described target mechanical arm are identical and touch the input of fingerprint image
The fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in fingerprint characteristic
Between similarity when being more than predetermined threshold value, just execute to touch to operate described in the response and being monitored by the opc server
The step of robot detail parameters of any one target mechanical arm, so as to significantly improve any one described mesh of monitoring
The safety for marking the robot detail parameters of mechanical arm prevents the robot detail parameters of any one target mechanical arm non-
Data leak caused by method user inquires wantonly.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are after judging that fingerprint minutiae similarity is more than predetermined threshold value, and are responding described touch
And operation by the opc server monitoring described in any one target mechanical arm robot detail parameters before, also execute with
Lower operation:
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 target mechanical arm;Optionally, if the input
Fingerprint characteristic is not matched that with the license user fingerprints feature, then is used to the corresponding license of the license user fingerprints feature
Before family sends monitoring license request, it may further determine that the input fingerprint characteristic is characterized in the license user fingerprints
The no fingerprint characteristic belonged to during same user's collection is combined, if belonged to, then it is assumed that the user that the input fingerprint characteristic belongs to
Mutually it is familiar with the license user belonging to the license user fingerprints feature, it at this time can be to the license user fingerprints feature pair
The license user answered sends monitoring license request, so as to permit user prevents strange user to disturb;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, institute is identified
It states monitoring license and agrees to whether the receiving time of response allows positioned at opc server binding through the opc server
It monitors in the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes to touch to operate described in the response and lead to
The step of crossing the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at
In the license access time section;If current time is located in license access time section, execute described in the response
Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server.Wherein, described defeated
Enter fingerprint characteristic with the license user fingerprints feature to match including the input fingerprint characteristic and the license user fingerprints
There are pairing relationship between feature, and license user fingerprints feature template corresponding with any one described target mechanical arm
Fingerprint characteristic can be different.
Obviously, implement the above embodiment, the plurality of different figure after pre-selection is stored with user's rearrangement
The corresponding template fingerprint feature of ordering rule, and the unique tags of the corresponding template fingerprint feature of the ordering rule again with institute
The unique tags for stating the corresponding template fingerprint feature of any one target mechanical arm are identical and touch the input fingerprint of fingerprint image
Between the fingerprint minutiae in fingerprint minutiae template fingerprint feature corresponding with any one described target mechanical arm in feature
Similarity be more than predetermined threshold value when, only allow opc server bind license user or by opc server bind permitted
Can the other users of user's license permitting user-defined license access time section, could be monitored by opc server described in
The robot detail parameters of any one target mechanical arm, so as to realize by opc server and any one described target machine
After the dual license of tool arm, the robot detail parameters of any one target mechanical arm could be monitored by opc server,
So as to significantly improve the safety of the robot detail parameters of any one target mechanical arm described in monitoring, described appoint is prevented
Data leak caused by the robot detail parameters of one target mechanical arm are inquired wantonly by disabled user.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all target mechanical arms, and respond
The global monitoring instruction monitors the robot global parameter of all target mechanical arms, the machine by the opc server
People's global parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs through the OPC
Server judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because
The setting of speed can only be arranged by global speed to be carried out being carried out at the same time speed setting to each target mechanical arm, when all targets
There is a nonsynchronous situation of speed and just needs to carry out alarm in mechanical arm, and needs to stop the operation of target mechanical arm.
As an alternative embodiment, in mechanical arm console described in Fig. 2:
After the OPC modules detection user is for the global monitoring instruction of all target mechanical arms input, and response
Before the global monitoring instruction monitors the robot global parameter of all target mechanical arms by the opc server, also hold
The following operation of row:
Detect whether the opc server binds the machine for allowing that all mechanical arms are monitored by the opc server
The unique tags of the control platform management user of people's global parameter;
If binding has the unique identities label of the control platform management user, the unique identities of user are managed with the control platform
Label is foundation, and the corresponding unique legitimate secret of unique identities label of the control platform management user is inquired from database;
Identify in the global monitoring instruction whether include key to be verified, if global monitoring instruction includes institute
Key to be verified is stated, it is whether identical as the unique key of the control platform management user to compare the key to be verified;If identical,
Execute the robot global that the response global monitoring instruction monitors all target mechanical arms by the opc server
Parameter.
Obviously, implement the above embodiment, when global monitoring instruction includes key to be verified, and the overall situation
What the key to be verified and opc server that monitoring instruction includes were bound allows all by opc server monitoring
When the corresponding unique legitimate secret of unique tags of the control platform management user of the robot global parameter of mechanical arm is identical, Cai Nengtong
The robot global parameter that the opc server monitors all target mechanical arms is crossed, it is all so as to significantly improve monitoring
The safety of the robot global parameter of target mechanical arm prevents the robot global parameter of all target mechanical arms from illegally being used
Data leak caused by family is inquired wantonly.
More preferably, in the mechanical arm console described in Fig. 2, the OPC modules are played back by function interface from more rails
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, following operation can also be performed in OPC modules:
The edit instruction input by user to the track scape of multiple track pre-generatmg in more rail playback modules is detected, and is responded
The edit instruction is to track scape into edlin, wherein editor includes that binding, unbundlings, left-justify, isometric, mouse, region are selected
It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, wherein:
1) it binds:Together by the binding of multiple scapes, the scape of binding as a whole, executes including mobile, deletion
It comes into force simultaneously when operation;
2) it unbinds:Two scapes are unbinding;
3) left-justify:Multiple scapes are chosen, using the scape of left end in view as target, the scape chosen is subjected to left-justify;
4) isometric:The scape chosen is carried out isometric behaviour by the multiple scapes for choosing same type using the last one scape as target
Make;
5) mouse:When selecting other functions, to make other disablers, mouse state need to be switched to;
6) regional choice:Regional frame chooses corresponding track scape;
7) it shields:Shielding is mutually done something for the occasion, its failure is made;
8) it deletes:Delete button is clicked, deletion state is switched to, clicks the scape to be deleted, you can deletes scape;
9) it replicates:The scape to be replicated is chosen, is replicated;
10) it pastes:The scape replicated is pasted;
11) it cancels:By current operation revocation to a upper mode of operation;
12) restore:Current operation is restored to next mode of operation;
13) it marks:Corresponding label is done at the time of on a timeline;
14) it removes:All labels on checkout time axis;
15) upper one:Jump to a upper mark position for time shaft;
16) next:Jump to next mark position on time shaft;
17) it is arranged:It pops up robot and interface is set, current engineering, which is arranged, allows the mechanical arm used and mechanical arm to allow to make
Program number.
More preferably, in the mechanical arm console described in Fig. 2, following operation can also be performed in OPC modules:
It detects user and instruction is arranged to the track attribute of multiple track inputs in more rail playback modules, and respond the track
Attribute setting instruction is configured the track attribute of the multiple track, wherein:Track attribute may include track name, rail
Road locking, track closing, the list of track scape, track scape operation (replicate, delete, positioning, renaming) etc..
As an alternative embodiment, the track category that multiple tracks input in detection user is to more rail playback modules
Property setting instruction after, OPC modules can according to the track attribute of the multiple track counted in advance setting frequency from
High sequence on earth is ranked up the track attribute of the multiple track, consequently facilitating user is to being arranged the higher rail of frequency
Road attribute is quickly arranged.
In the embodiment of the present invention, mechanical arm console is also provided with control editor module, and control editor module can be with
For editor control order material, editor control order material node and progress equipment management, (such as mechanical arm tag control adds
Add TCP equipment, server address setting) etc. operations.
Obviously, implement mechanical arm console described in Fig. 2, quantity that can effectively to being introduced in stage, exhibition room
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 synchronous control that can also realize local media and mechanical arm, it is more preferable so as to be exported for performance site
Service.Further, since it can be that spectators enter target machine that the floor pressure of target mechanical arm region, which is more than specified threshold,
Caused by tool arm region, therefore, implement mechanical arm console described in Fig. 2, only enters target machinery in spectators
That is just concentrated when arm region controls each target mechanical arm being introduced in the performance sites such as stage, exhibition room, from
And caused work(when controlling 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
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 that local media is combined with pressure sensitive disclosed by the embodiments of the present invention and side
Method is described in detail, and principle and implementation of the present invention are described for specific case used herein, above
The explanation of embodiment is merely used to help understand the method and its core concept of the present invention;Meanwhile for the general skill of this field
Art personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this
Description should not be construed as limiting the invention.
Claims (12)
1. the Mechanical arm control method that a kind of local media is combined with pressure sensitive, which is characterized in that including:
OPC modules are established data communication with opc server by OPC agreements and are connect, the opc server by network be located at
The PLC device of all mechanical arms of performance site different zones establishes data communication connection;
The OPC modules detect the floor pressure of each mechanical arm region, and are more than in the floor pressure
When specified threshold, using the mechanical arm as target mechanical arm;
More rail playback modules generate track scape on multiple tracks in advance, i.e., more rail playback modules generate on starting track in advance
For carrying out the global startup track scape for controlling each target mechanical arm and starting, generated on geo-stationary orbit for carrying out global control
The geo-stationary orbit scape that each target mechanical arm synchronizes is made, is generated on speed track for carrying out each target machinery of global control
The speed track scape of arm speed generates the robot track scape for identifying each target mechanical arm in robot track,
The order track scape for being controlled each target mechanical arm is generated on order track, and is compiled using by local media
It collects external interface and generates local media scape on local media track from the local media material obtained in local media host;
OPC modules call from more rail playback modules the startup track scape, the geo-stationary orbit scape, described by function interface
Speed track scape, the robot track scape, the order track scape and the local media scape;By the startup of calling
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 for each target mechanical arm that the robot track scape is identified, so that 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 is that foundation controls corresponding target mechanical arm, and drives corresponding target mechanical arm while playing
The local media scape.
2. Mechanical arm control method according to claim 1, which is characterized in that the method further includes:
The OPC modules detection user is directed to the operation that touches of any one corresponding monitoring box of target mechanical arm, and described in response
Touch the robot detail parameters that operation monitors any one target mechanical arm by the opc server, the robot
Detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and when total operation
Between, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
3. Mechanical arm control method according to claim 2, which is characterized in that the OPC modules detection user, which is directed to, to be appointed
One corresponding monitoring box of target mechanical arm is touched after operation, and is touched operation described in response and serviced by the OPC
Before the robot detail parameters of device monitoring any one target mechanical arm, the method further includes:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship
With the multiple and different figure of array way sequencing display on mutual interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, determination is arranged again
The ordering rule of the plurality of different figure after sequence;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the ordering rule if be stored with
The unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described target mechanical arm is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image point
It cuts, image enhancement, image binaryzation and micronization processes, acquisition input refine fingerprint image;
It takes the fingerprint minutiae point in the input refines fingerprint image, and to input refinement fingerprint image into line trace,
And the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refines the sampling of fingerprint image
The convex closure of point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, structure inputs the fingerprint minutiae local direction in fingerprint characteristic
Description;
According to the fingerprint minutiae part of the description of fingerprint minutiae local direction and template fingerprint feature in input fingerprint characteristic
Direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described target mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing
The step of robot detail parameters of any one target mechanical arm being monitored by the opc server.
4. Mechanical arm control method according to claim 3, which is characterized in that judging that fingerprint minutiae similarity is super
It crosses after predetermined threshold value, and touches operation described in response and any one target machinery is monitored by the opc server
Before the robot detail parameters of arm, the method further includes:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is joined in detail by the opc server
The unique identities label of several license users;
If binding has the unique identities label of the license user, using the unique identities label of the license user as foundation,
The corresponding license user fingerprints feature of unique identities label of the license user is inquired from database;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint characteristic
It is not matched that with the license user fingerprints feature, sending monitoring to the corresponding license user of the license user fingerprints feature is permitted
It can ask, the monitoring license request includes the label of any one target mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, the prison is identified
Depending on license agree to response receiving time whether be located at the opc server binding allow monitored by the opc server
In the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes and touch operation described in the response and pass through institute
The step of stating the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at
Permit in access time section;If current time is located in license access time section, executes and touched described in the response
Operation monitors the step of robot detail parameters of any one target mechanical arm by the opc server.
5. according to the Mechanical arm control method described in claim 2,3 or 4, which is characterized in that the method further includes:
The OPC modules detection user instructs for the global monitoring of all target mechanical arms input, and responds the global prison
Control instruction monitors the robot global parameter of all target mechanical arms, the robot global parameter by the opc server
Including robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs to service by the OPC
Device judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each target mechanical arm be carried out at the same time speed setting, when all targets machinery
There is a nonsynchronous situation of speed and just needs to carry out alarm in arm, and needs to stop the operation of target mechanical arm.
6. Mechanical arm control method according to claim 5, which is characterized in that the OPC modules detection user is directed to institute
After having the global monitoring instruction that target mechanical arm inputs, and the response global monitoring instruction passes through the opc server
Before the robot global parameter for monitoring all target mechanical arms, the method further includes:
Detect whether the opc server binds the machine for allowing that all target mechanical arms are monitored by the opc server
The unique identities label 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 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 that the response global monitoring instruction monitors all target mechanical arms by the opc server
The step of parameter.
7. the mechanical arm console that a kind of local media is combined with pressure sensitive, which is characterized in that including:
OPC modules, opc server and more rail playback modules, wherein the OPC modules are taken by OPC agreements and the OPC
Business device establishes data communication connection, and the opc server passes through network and all mechanical arms for being located at performance site different zones
PLC device establish data communication connection;
The OPC modules, the floor pressure for detecting each mechanical arm region, and in the floor pressure
When more than specified threshold, using the mechanical arm as target mechanical arm;
More rail playback modules, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are starting track in advance
It is upper to generate for carrying out the global startup track scape for controlling each target mechanical arm and starting, it is generated on geo-stationary orbit for carrying out
The overall situation controls the geo-stationary orbit scape that each target mechanical arm synchronizes, and is generated on speed track and controls each mesh for carrying out the overall situation
The speed track scape for marking mechanical arm speed generates the robot track for identifying each target mechanical arm in robot track
Scape generates the order track scape for being controlled each target mechanical arm on order track, and utilizes and pass through local
Media editing external interface generates local matchmaker from the local media material obtained in local media host on local media track
Body scape;
The OPC modules are additionally operable to call the startup track scape, the synchronization from more 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;It will adjust
The startup track scape, the geo-stationary orbit scape, the speed track scape, the order track scape and the local matchmaker
Body scape is sent to the PLC device for each target mechanical arm that the robot track scape is identified by opc server, 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 that foundation controls corresponding target mechanical arm, and drives corresponding target machinery
Arm plays the local media scape simultaneously.
8. mechanical arm console according to claim 7, it is characterised in that:
The OPC modules are additionally operable to touch operation of the detection user for any one corresponding monitoring box of target mechanical arm, and ring
The robot detail parameters touched operation and monitor any one target mechanical arm by the opc server are answered, it is described
Robot detail parameters include manipulator shaft angle, robot speed, be currently running program number, current run time and total fortune
The row time, wherein:
1) the manipulator shaft angle:6 angle parameters including A1-A6, ranging from -180 ° to 180 ° of angle parameter;
2) robot speed:Each target mechanical arm operation has the speed of itself, is only permitted display and checked, mustn't changed;
3) described to be currently running program number:Including the currently running program number of target mechanical arm;
4) current run time:Including the target mechanical arm currently running time;
5) total run time:Including the total run time of target mechanical arm.
9. mechanical arm console according to claim 8, it is characterised in that:The OPC modules are additionally operable in detection user
For any one corresponding monitoring box of target mechanical arm touch operation after, and touch described in response operation pass through it is described
Before the robot detail parameters of opc server monitoring any one target mechanical arm, following operation is executed:
Touching of touching that operation generates described in detection and touches fingerprint at pressure;
Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship
With the multiple and different figure of array way sequencing display on mutual interface;
After user completes to the plurality of different figure rearrangement on the human-computer interaction interface, determination is arranged again
The ordering rule of the plurality of different figure after sequence;
Judge whether that be stored with the corresponding template fingerprint feature of the ordering rule judges the ordering rule if be stored with
The unique tags of corresponding template fingerprint feature template fingerprint feature whether corresponding with any one described target mechanical arm is only
One label is identical, if identical, according to it is described touch fingerprint generation touch fingerprint image;
The fingerprint image that touches is pre-processed, the pretreatment includes respectively to the image for touching fingerprint image point
It cuts, image enhancement, image binaryzation and micronization processes, acquisition input refine fingerprint image;
It takes the fingerprint minutiae point in the input refines fingerprint image, and to input refinement fingerprint image into line trace,
And the sampled point in the input refinement fingerprint image on crestal line is extracted, and the extraction input refines the sampling of fingerprint image
The convex closure of point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point;
Using the Ridge-Sampling point information around fingerprint minutiae, structure inputs the fingerprint minutiae local direction in fingerprint characteristic
Description;
According to the fingerprint minutiae part of the description of fingerprint minutiae local direction and template fingerprint feature in input fingerprint characteristic
Direction describes, and the fingerprint minutiae template fingerprint corresponding with any one described target mechanical arm calculated in input fingerprint characteristic is special
The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity;
Judge whether fingerprint minutiae similarity is more than predetermined threshold value, operation is touched described in the response if it does, executing
The robot detail parameters of any one target mechanical arm are monitored by the opc server.
10. mechanical arm console according to claim 9, which is characterized in that the OPC modules are judging details in fingerprint
After point similarity is more than predetermined threshold value, and touch described in response operation monitored by the opc server it is described any
Before the robot detail parameters of a target mechanical arm, following operation is also executed:
Whether detect the opc server and bind allows to monitor that the robot of mechanical arm is joined in detail by the opc server
The unique identities label of several license users;
If binding has the unique identities label of the license user, using the unique identities label of the license user as foundation,
The corresponding license user fingerprints feature of unique identities label of the license user is inquired from database;
Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint characteristic
It is not matched that with the license user fingerprints feature, sending monitoring to the corresponding license user of the license user fingerprints feature is permitted
It can ask, the monitoring license request includes the label of any one target mechanical arm;
If receiving the monitoring license that the license user returns for the monitoring license request agrees to response, the prison is identified
Depending on license agree to response receiving time whether be located at the opc server binding allow monitored by the opc server
In the license access time section of the robot detail parameters of mechanical arm;
If the receiving time is located in license access time section, executes and touch operation described in the response and pass through institute
The step of stating the robot detail parameters of opc server monitoring any one target mechanical arm;
If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at
Permit in access time section;If current time is located in license access time section, executes and touched described in the response
Operation monitors the robot detail parameters of any one target mechanical arm by the opc server.
11. according to the mechanical arm console described in claim 8,9 or 10, it is characterised in that:
The OPC modules are additionally operable to global monitoring instruction of the detection user for the input of all target mechanical arms, and described in response
Global monitoring instructs the robot global parameter for monitoring all target mechanical arms by the opc server, the robot complete
Office's parameter includes robot global speed, PLC connection status and the inconsistent alarm of speed, wherein:
1) the robot global speed:The global speed of display target mechanical arm;
2) the PLC connection status:It is the connection status of PLC device and mechanical arm console, needs to service by the OPC
Device judges to show with PLC device connection status;
3) the inconsistent alarm of the speed:The speed of all target mechanical arms should be consistent in operational process, because of speed
Setting can only by global speed be arranged carry out to each target mechanical arm be carried out at the same time speed setting, when all targets machinery
There is a nonsynchronous situation of speed and just needs to carry out alarm in arm, and needs to stop the operation of target mechanical arm.
12. mechanical arm console according to claim 11, which is characterized in that the OPC modules detection user is directed to institute
After having the global monitoring instruction that target mechanical arm inputs, and the response global monitoring instruction passes through the opc server
Before the robot global parameter for monitoring all target mechanical arms, following operation is also executed:
Detect whether the opc server binds the machine for allowing that all target mechanical arms are monitored by the opc server
The unique identities label 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 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 that the response global monitoring instruction monitors all target mechanical arms by the opc server
Parameter.
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