CN106354085B

CN106354085B - A kind of mechanical arm console that pressure sensitive is combined with remote media and method

Info

Publication number: CN106354085B
Application number: CN201610900457.7A
Authority: CN
Inventors: 李志雄; 李株亮; 黄石锋; 黄庆杰
Original assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Current assignee: Guangzhou Leafun Culture Science and Technology Co Ltd
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2019-01-11
Anticipated expiration: 2036-10-14
Also published as: CN106354085A

Abstract

A kind of mechanical arm console that pressure sensitive is combined with remote media and method, in this method: the floor pressure of target mechanical arm region is more than specified threshold；OPC module calls starting track scape from more rail playback modules, geo-stationary orbit scape, speed track scape, robot track scape, order track scape and remote media scape, track scape will be started, geo-stationary orbit scape, speed track scape, order track scape and remote 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 respectively to corresponding target mechanical arm while playing remote media scape.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 synchronously control of remote media and mechanical arm.

Description

A kind of mechanical arm console that pressure sensitive is combined with remote media and method

Technical field

It is combined the present invention relates to performance integration control technology field more particularly to a kind of pressure sensitive with remote media Mechanical arm console and method.

Background technique

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 export good service to performance sites such as stage, exhibition rooms, mechanical arm is gradually introduced the performance sites such as stage, exhibition room In.In practice, it has been found that be introduced into stage performance, the mechanical arm in display and demonstration market it is more and more, how to being introduced to A fairly large number of mechanical arms of the performance sites such as stage, exhibition room carries out centralized control, is drilled with improving to being introduced to stage, exhibition room etc. The control efficiency of a fairly large number of mechanical arm in place out, and how further to realize that remote 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 problem certainly.

Summary of the invention

The mechanical arm console and method combined the embodiment of the invention discloses a kind of pressure sensitive with remote media, energy It is enough that 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, it improves to drawing Enter the control efficiency of a fairly large number of mechanical arm into the performance sites such as stage, exhibition room；It can also realize remote media and machine The synchronously control of tool 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 pressure sensitive is combined with remote media, Include:

OPC module is established data communication with opc server by OPC agreement and is 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 module detects 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 starting track scape for controlling each target mechanical arm starting, is generated on geo-stationary orbit complete for carrying out Office controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates 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 using by long-range Media editing external interface generates on remote media track remotely from the remote media material obtained in remote media server Media scape；

OPC module by function interface called from more rail playback modules the starting track scape, the geo-stationary orbit scape, The speed track scape, the robot track scape, the order track scape and the remote media scape, and with external week The timing code of phase property input is that starting point carries out timing, and reaches the full-time mode regulation of more rail playback module settings in timing Duration when, by the starting track scape, the geo-stationary orbit scape, the speed track scape, the order track scape of calling And the remote media scape is sent to each target machinery that the robot track scape is identified by opc server The PLC device of arm, so that the PLC device of each target mechanical arm is with the starting track scape, the geo-stationary orbit scape, institute Speed track scape and the order track scape are stated as according to respectively controlling corresponding target mechanical arm, and is driven each The remote media scape is played simultaneously to corresponding target mechanical arm.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the method also includes:

The OPC module 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, are currently running program number, current run time and total operation Time, in which:

1) the manipulator shaft angle: 6 angle parameters including A1-A6, angle parameter range are -180 ° to 180 °；

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 runing time of target mechanical arm.

As an alternative embodiment, the OPC module detects user's needle in first aspect of the embodiment of the present invention To any one corresponding monitoring box of target mechanical arm touch operation after, and described in response touch operation by the OPC Before the robot detail parameters of any one target mechanical arm described in server monitors, the method also 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 manner 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 being 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 input refinement 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 extract the input refinement fingerprint image The convex closure of sampled point generates the input fingerprint characteristic of the convex closure containing fingerprint minutiae, all crestal lines up-sampling point and sampled point；

Using the Ridge-Sampling point information around fingerprint minutiae, the fingerprint minutiae in building input fingerprint characteristic is local Direction description；

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

Judge whether fingerprint minutiae similarity is more than preset threshold, 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, judging fingerprint minutiae phase in first aspect of the embodiment of the present invention After being more than preset threshold like degree, and operation is touched described in the response, any one described mesh is monitored by the opc server Before the robot detail parameters for marking mechanical arm, the method also 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 is located at the allowing through the opc server of opc server binding It monitors in the license access time section of the robot detail parameters of mechanical arm；

If the receiving time is located in the license access time section, executes to touch to operate described in the response and lead to Cross the step of opc server monitors the robot detail parameters of 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 the 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.

The OPC module 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, in which:

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

2) the PLC connection status: it is the connection status of PLC device Yu mechanical arm console, needs through the OPC Server and the judgement of PLC device connection status are shown；

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 to each target mechanical arm while carrying out speed setting, when all targets A nonsynchronous situation of speed, which occurs, in mechanical arm just to need to carry out warning note, and needs to stop the operation of target mechanical arm.

As an alternative embodiment, the OPC module detects user's needle in first aspect of the embodiment of the present invention 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 also 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, with the unique identities of the control platform management user 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 including institute in global monitoring instruction 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 pressure sensitive is combined with remote media, packet It includes:

OPC module, opc server and more rail playback modules, wherein the OPC module by OPC agreement 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 module, for detecting the floor pressure of 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 starting track scape for controlling each target mechanical arm 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 Remote media editor external interface generates on remote media track from the remote media material obtained in remote media server Remote media scape；

The OPC module is also used to call the starting 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 remote media scape, And the timing code periodically inputted using outside carries out timing as starting point, and reaches more rail playback module settings in timing When duration as defined in full-time mode, by the starting track scape, the geo-stationary orbit scape, the speed track scape, institute of calling State order track scape and the remote media scape by opc server be sent to the robot track scape identified it is described The PLC device of each target mechanical arm, so that the PLC device of each target mechanical arm is with the starting track scape, described Geo-stationary orbit scape, the speed track scape and the order track scape are according to respectively to the progress of corresponding target mechanical arm Control, and drive and the remote media scape is respectively played simultaneously to corresponding target mechanical arm.

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

The OPC module is also used to detect user for any one corresponding monitoring box of target mechanical arm and touches operation, 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, in which:

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

The OPC module is also used 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:

Judge whether fingerprint minutiae similarity is more than preset threshold, 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.

The OPC module is after judging that fingerprint minutiae similarity is more than preset threshold, and is responding the touching And operation monitor any one target mechanical arm by the opc server robot detail parameters before, also execution with Lower operation:

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 the 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.

The OPC module is also used to detect user for the global monitoring instruction of all target mechanical arms input, and responds 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, in which:

After the OPC module 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:

Identify in the global monitoring instruction whether include key to be verified, if including institute in global monitoring instruction 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 have it is following the utility model has the advantages that

In the embodiment of the present invention, the floor pressure of region in performance site can be more than specified threshold by OPC module Mechanical arm as target mechanical arm, and by function interface is called from more rail playback modules start track scape, geo-stationary orbit Scape, speed track scape, robot track scape, order track scape and remote media scape, and with outside periodically input when Between code be that starting point carries out timing, will and when timing reaches duration as defined in the full-time mode of the more rail playback modules setting Starting track scape, geo-stationary orbit scape, speed track scape, order track scape and the remote media scape of calling pass through opc server It is sent to the PLC device for each target mechanical arm that robot track scape is identified, so that the PLC device of each target mechanical arm To start track scape, geo-stationary orbit scape, speed track scape and order track scape as according to respectively mechanical to corresponding target Arm is controlled, and is driven respectively to corresponding target mechanical arm while playing remote media scape.Obviously, implement the present invention to implement Example, can effectively to be introduced to stage, a fairly large number of mechanical arm in exhibition room carries out centralized control, to improve to being introduced 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 remote media and mechanical arm Synchronously control, so as to be performance site output preferably service.Further, since the floor of target mechanical arm region Pressure can be spectators more than specified threshold and enter caused by target mechanical arm region, therefore, implements the present invention and implements Example, only when spectators enter target mechanical arm region just concentration to being introduced in the performance sites such as stage, exhibition room Each target mechanical arm is controlled, a fairly large number of in the performance sites such as stage, exhibition room to being introduced to so as to reduce Brought power consumption when mechanical arm is controlled.

Detailed description of the invention

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 Mechanical arm control method that a kind of pressure sensitive disclosed by the embodiments of the present invention is combined with remote media Flow diagram；

Fig. 2 is the knot for the mechanical arm console that a kind of pressure sensitive disclosed by the embodiments of the present invention is combined with remote media Structure schematic diagram.

Specific embodiment

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 description, it is clear that the 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 the embodiment of the invention discloses a kind of pressure sensitive with remote media, energy It is enough that 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, it improves to drawing Enter the control efficiency of a fairly large number of mechanical arm into the performance sites such as stage, exhibition room.Attached drawing is combined below to carry out in detail Thin description.

Embodiment one

Referring to Fig. 1, Fig. 1 is the mechanical arm that a kind of pressure sensitive disclosed by the embodiments of the present invention is combined with remote media The flow diagram of control method.Wherein, the Mechanical arm control method that pressure sensitive described in Fig. 1 is combined with remote media It can be applied to mechanical arm console.As shown in Figure 1, the Mechanical arm control method may comprise steps of:

101, OPC module is established data communication with opc server by OPC agreement and is connect, and the opc server passes through net Network is established data communication with the PLC device for all mechanical arms for being located at performance site different zones and is connect.

In the embodiment of the present invention, OPC module refers to object connection and insertion (i.e. OLE for for process control Process Control) module, OPC module may include that OPC control and robot monitor two big functions.Opc server refers to RSLinx opc server, OPC module and opc server can be set in mechanical arm console, and OPC module mainly passes through (i.e. Programmable Logic Controller may be programmed the PLC of the server of RSLinx OPC Server and 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 module detects the floor pressure of each mechanical arm region, and is 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 module by the PLC device of mechanical arm by pressure sensor matrix, so that OPC module 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 in advance in starting rail Generated on road for carrying out the global starting track scape for controlling each target mechanical arm starting, generated on geo-stationary orbit for into Row is global to control the synchronous geo-stationary orbit scape of each target mechanical arm, generates on speed track each for carrying out global control 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 using by remote Journey media editing external interface generates on remote media track remotely from the remote media material obtained in remote media host Media scape.

In the embodiment of the present invention, more rail playback modules be can be set in mechanical arm console, and more rail playback modules Function interface is connect with OPC module.Wherein, above-mentioned starting track scape is more rail playback modules according to being drawn to starting track What OPC start command (belonging to global command) generated on starting track in advance controls each target mechanical arm for carrying out the overall situation The track scape of starting；Above-mentioned geo-stationary orbit scape is that more rail playback modules (belong to according to the OPC synch command 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 speed order (belonging to global command) for being drawn to speed track What is generated on speed track in advance controls the track scape of each target mechanical arm speed for carrying out the overall situation；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 For identifying the track scape of 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 remote media scape stated is that more rail playback modules are dragged from remote media server according to by remote media editor external interface It drags to the remote media material of remote media track (such as remote audio material, long-distance video material) in advance in remote media rail The remote media scape generated on road.

In the embodiment of the present invention, the track scape for being controlled each target mechanical arm generated on order track can With the angle for controlling the rotation of each target mechanical arm, the direction of rotation etc..

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 parallel to each other, 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 be 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 module calls the starting 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 remote media scape.

105, OPC module carries out timing as starting point using the timing code that outside periodically inputs, and reaches described more in timing When duration as defined in the full-time mode of rail playback module setting, by the starting track scape, the geo-stationary orbit scape, institute of calling It states speed track scape, the order track scape and the remote media scape and the robot rail is sent to by opc server The PLC device for each target mechanical arm that road scape is identified, so that the PLC device of each target mechanical arm is with described Starting track scape, the geo-stationary orbit scape, the speed track scape and the order track scape is according to respectively to corresponding Target mechanical arm controlled, and drive and the remote media scape respectively played simultaneously to corresponding target mechanical arm.

Wherein, the PLC device of each target mechanical arm is with the starting 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 starting control, synchronously control, Speed control and the corresponding control (such as rotating counterclockwise specified duration) of order control material.

As an alternative embodiment, following step can also be performed in the Mechanical arm control method described in Fig. 1 It is rapid:

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

As an alternative embodiment, OPC module detects user in the Mechanical arm control method described in Fig. 1 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 opc server monitors the robot detail parameters of any one target mechanical arm, following steps can also be performed:

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

Obviously, implement above embodiment, it is only the plurality of different after pre-selection is stored with user's rearrangement The corresponding template fingerprint feature of the 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 preset threshold, 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, monitors any one described mesh so as to significantly improve 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 module exists After judging that fingerprint minutiae similarity is more than preset threshold, and operation is touched described in the response and is serviced by the OPC Before device monitors the robot detail parameters of any one target mechanical arm, following steps can also be first carried out:

Identify whether the input fingerprint characteristic matches with the license user fingerprints feature, if the input fingerprint Feature does not match that corresponding license user sends prison to the license user fingerprints feature with the license user fingerprints feature Depending on license request, the monitoring license request includes the label of any one 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 It is no belong to same user collection be combined in fingerprint characteristic, if belonged to, then it is assumed that the user that the input fingerprint characteristic belongs to Mutually it is familiar with 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 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 the 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 and the license user fingerprints feature match 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 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 preset threshold 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 by described in opc server monitoring 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 for the robot detail parameters for monitoring any one target mechanical arm, described appoint is prevented Data leak caused by the robot detail parameters of one target mechanical arm are inquired wantonly by illegal user.

More preferably, it as an alternative embodiment, in the Mechanical arm control method described in Fig. 1, can also wrap Include following steps:

More preferably, in the Mechanical arm control method described in Fig. 1, the OPC module 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 also includes:

Obviously, implement above embodiment, when including key to be verified, and the overall situation in global monitoring instruction What the key to be verified and opc server for including in monitoring instruction were bound allows to monitor by the opc server all 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 starting track scape, the geo-stationary orbit scape, the speed track scape, the robot track scape, the order track scape And before the remote media scape, the method also includes following steps:

The edit instruction to the track scape of multiple track pre-generatmg in more rail playback modules of user's input is detected, and is responded The edit instruction edits track scape, wherein editor includes binding, unbundlings, left-justify, isometric, mouse, region choosing It selects, shield, deleting, replicating, pasting, cancelling, restoring, marking, removing, is one upper, next and setting, in which:

1) bind: 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: choosing multiple scapes, and using the scape of left end in view as target, the scape chosen is carried out left-justify；

4) isometric: to choose multiple scapes of same type, using the last one scape as target, the scape chosen is subjected to isometric behaviour Make；

5) mouse: when selection other function, other function is failed, mouse state need to be switched to；

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

7) shield: shielding is mutually done something for the occasion, its failure is made；

8) it deletes: clicking delete button, be switched to deletion state, click the scape to be deleted, scape can be deleted；

9) it replicates: choosing the scape to be replicated, 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: doing corresponding label at the time of on a timeline；

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

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

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

17) be arranged: pop-up robot set interface, be arranged current engineering allow using mechanical arm and mechanical arm allow to make Program number.

More preferably, in the Mechanical arm control method described in Fig. 1, the method also includes following steps:

The track attribute setting instruction that detection user inputs tracks multiple in more rail playback modules, and respond the track Attribute setting instruction is configured the track attribute of the multiple track, in which: track attribute may include track name, rail Road locking, track closing, the list of track scape, track scape operation (duplication is deleted, positioning, renaming) etc..

As an alternative embodiment, the track category inputted in detection user to tracks multiple in 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, can effectively to be introduced to stage, the number in exhibition room It measures more mechanical arm and carries out centralized control, to improve to a fairly large number of machine being introduced in the performance sites such as stage, exhibition room The control efficiency of tool arm；The synchronously control of remote media and mechanical arm can also be realized, so as to export more for performance site Good service.Further, since the floor pressure of target mechanical arm region, which can be spectators more than specified threshold, enters target Caused by mechanical arm region, therefore, implements Mechanical arm control method described in Fig. 1, only enter target in spectators That just concentrates when mechanical arm region controls each target mechanical arm being introduced in the performance sites such as stage, exhibition room System, controls when institute's band to a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room so as to reduce The power consumption come.

Embodiment two

Referring to Fig. 2, Fig. 2 is the mechanical arm that a kind of pressure sensitive disclosed by the embodiments of the present invention is combined with remote media The structural schematic diagram of console.As shown in Fig. 2, the mechanical arm console may comprise steps of:

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 starting track scape for controlling each target mechanical arm 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 Remote media editor external interface generates on remote media track far from the remote media material obtained in remote media host Journey media scape；

The OPC module is also used to call the starting 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 remote media scape； And the timing code periodically inputted using outside carries out timing as starting point, and reaches more rail playback module settings in timing Full-time mode as defined in duration when, by the starting track scape of calling, the geo-stationary orbit scape, the speed track scape, The order track scape and the remote media scape are sent to the institute that the robot track scape is identified by opc server The PLC device of each target mechanical arm is stated, so that the PLC device of each target mechanical arm is with the starting track scape, institute State geo-stationary orbit scape, the speed track scape and the order track scape for according to respectively to corresponding target mechanical arm into Row control, and drive and the remote media scape is respectively played simultaneously to corresponding target mechanical arm.

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

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

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

If the input fingerprint characteristic matches with the license user fingerprints feature, whether identification current time is located at In the license access time section；If current time is located in the 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 and the license user fingerprints feature matches 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.

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

More preferably, in the mechanical arm console described in Fig. 2, the OPC module is played back by function interface from more rails The starting 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 remote media scape, following operation is can also be performed in OPC module:

2) it unbinds: two scapes are unbinding；

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

9) it replicates: choosing the scape to be replicated, 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: doing corresponding label at the time of on a timeline；

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

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

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

More preferably, in the mechanical arm console described in Fig. 2, following operation is can also be performed in OPC module:

As an alternative embodiment, the track category inputted in detection user to tracks multiple in more rail playback modules Property setting instruction after, OPC module 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 the setting higher rail of frequency Road attribute is quickly arranged.

In the embodiment of the present invention, mechanical arm console may also include more rail curtains field module, wherein more rail playback modules Duration as defined in full-time mode can be called to be arranged as more rail playback modules from the module of more rail curtains field by function interface Duration as defined in full-time mode.

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. operation.

Obviously, implement mechanical arm console described in Fig. 2, can effectively to be introduced to stage, the quantity in exhibition room More mechanical arm carries out centralized control, to improve to a fairly large number of machinery being introduced in the performance sites such as stage, exhibition room The control efficiency of arm；It can also realize the synchronously control of remote media and mechanical arm, it is more preferable so as to be exported for performance site Service.Further, since the floor pressure of target mechanical arm region, which can be spectators more than specified threshold, enters target machine Caused by tool arm region, therefore, implement mechanical arm console described in Fig. 2, only enters target machinery in spectators That just concentrates when arm region controls each target mechanical arm being introduced in the performance sites such as stage, exhibition room, from And brought function when controlling a fairly large number of mechanical arm being introduced in the performance sites such as stage, exhibition room can be reduced Consumption.

Those of ordinary skill in the art will appreciate that all or part of the steps 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 disc memories, magnetic disk storage, magnetic tape storage or can For carrying or any other computer-readable medium of storing data.

Above to a kind of mechanical arm console that pressure sensitive is combined with remote media disclosed by the embodiments of the present invention and Method is described in detail, and used herein a specific example illustrates the principle and implementation of the invention, with The explanation of upper embodiment is merely used to help understand method and its core concept of the invention；Meanwhile for the general of this field Technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion The contents of this specification are not to be construed as limiting the invention.

Claims

1. the Mechanical arm control method that a kind of pressure sensitive is combined with remote media characterized by comprising

OPC module is established data communication with opc server by OPC agreement and is connect, and the opc server passes through network and is located at The PLC device of all mechanical arms of performance site different zones establishes data communication connection；

The OPC module detects the floor pressure of each mechanical arm region, and is 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 starting track scape for controlling each target mechanical arm starting, generate on geo-stationary orbit for carrying out global control The synchronous geo-stationary orbit scape of each target mechanical arm is made, is generated on speed track mechanical for carrying out the global each target of 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 remote media It collects external interface and generates remote media scape on remote media track from the remote media material obtained in remote media server；

OPC module calls the starting track scape, the geo-stationary orbit scape, described by function interface from more rail playback modules Speed track scape, the robot track scape, the order track scape and the remote media scape, and with external periodical The timing code of input is starting point progress timing, and when timing reaches as defined in the full-time mode of more rail playback module settings When long, by the starting track scape of calling, the geo-stationary orbit scape, the speed track scape, the order track scape and The remote media scape is sent to each target mechanical arm that the robot track scape is identified by opc server PLC device, so that the PLC device of each target mechanical arm is with the starting track scape, the geo-stationary orbit scape, the speed Degree track scape and the order track scape are that foundation controls respective target mechanical arm, and drives respectively corresponding Target mechanical arm play the remote media scape simultaneously.

2. Mechanical arm control method according to claim 1, which is characterized in that the method also includes:

The OPC module 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 When detail parameters include manipulator shaft angle, robot speed, are currently running program number, current run time and total operation Between, in which:

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

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

3. Mechanical arm control method according to claim 2, which is characterized in that the OPC module 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 device monitors the robot detail parameters of any one target mechanical arm, the method also includes:

Touch whether pressure is more than to preset to touch pressure described in judgement, if it does, output human-computer interaction interface, the man-machine friendship The figure multiple and different with array manner 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 being 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；

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

Using the Ridge-Sampling point information around fingerprint minutiae, building 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 description, the fingerprint minutiae template fingerprint corresponding with any one described target mechanical arm calculated in input fingerprint characteristic are special The similarity between fingerprint minutiae in sign, obtains fingerprint minutiae similarity；

Judge whether fingerprint minutiae similarity is more than preset threshold, touches operation described in the response if it does, executing The step of monitoring the robot detail parameters of any one target mechanical arm 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 preset threshold, and touches operation described in the response and any one target machinery is monitored by the opc server Before the robot detail parameters of arm, the method also 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, sends monitoring to the corresponding license user of the license user fingerprints feature and permitted It can request, 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 Agree to whether the receiving time of response is located at opc server binding and allows to monitor by the opc server depending on license 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, execute described in response described in touch operation and pass through institute State the step of opc server monitors the robot detail parameters of 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 the 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. the mechanical arm console that a kind of pressure sensitive is combined with remote media characterized by comprising

OPC module, opc server and more rail playback modules, wherein the OPC module is taken by OPC agreement 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 module, for detecting 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, for generating track scape on multiple tracks in advance, i.e., more rail playback modules are in advance in starting track It is upper to generate for carrying out the global starting track scape for controlling each target mechanical arm starting, it generates on geo-stationary orbit for carrying out The overall situation controls the synchronous geo-stationary orbit scape of each target mechanical arm, generates 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 using by long-range Media editing external interface generates on remote media track remotely from the remote media material obtained in remote media server Media scape；

The OPC module is also used to call the starting 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 remote media scape, and The timing code periodically inputted using outside carries out timing as starting point, and reaches the full-time of more rail playback module settings in timing As defined in mode when duration, by the starting track scape, the geo-stationary orbit scape, the speed track scape, the life of calling Enable track scape and the remote media scape by opc server be sent to the robot track scape identified it is described each The PLC device of target mechanical arm, so that the PLC device of each target mechanical arm is with the starting track scape, the synchronization Track scape, the speed track scape and the order track scape are that foundation controls respective target mechanical arm, And it drives respective target mechanical arm while playing the remote media scape.

6. mechanical arm console according to claim 5, it is characterised in that:

The OPC module is also used to detect user for the operation that touches of any one corresponding monitoring box of target mechanical arm, and rings 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, are currently running program number, current run time and total fortune The row time, in which:

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

7. mechanical arm console according to claim 6, it is characterised in that: the OPC module is also used 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 opc server monitors the robot detail parameters of any one target mechanical arm, following operation is executed:

Judge whether fingerprint minutiae similarity is more than preset threshold, touches operation described in the response if it does, executing The robot detail parameters of any one target mechanical arm are monitored by the opc server.

8. mechanical arm console according to claim 7, which is characterized in that the OPC module is judging details in fingerprint After point similarity is more than preset threshold, and touch described in the 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:

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, sends monitoring to the corresponding license user of the license user fingerprints feature and permitted It can request, the monitoring license request includes the label of any one mechanical arm；

If the input fingerprint characteristic matches with the license user fingerprints feature, it is described whether identification current time is located at Permit in access time section；If current time is located in the 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.