CN-116276996-B - Remote three-dimensional visual control system for parallel mechanism

CN116276996BCN 116276996 BCN116276996 BCN 116276996BCN-116276996-B

Abstract

The invention discloses a remote three-dimensional visual control system of a parallel mechanism, which comprises a mechanism data acquisition system and a remote three-dimensional visual control platform, wherein the mechanism data acquisition system and the remote three-dimensional visual monitoring platform are in communication connection through a cloud server, and information exchange and remote control are carried out through the cloud server. The invention reads the real-time motion parameters of the mechanism and remotely reproduces the actual motion state of the mechanism in real time, and a worker can intuitively acquire the real-time motion state of the mechanism at a mobile phone end or a computer end through 360 degrees of the mechanism model, so that the visualization degree is high.

Inventors

ZHANG XIANMIN
ZHANG JIANQIN
ZHANG FENHUA

Assignees

华南理工大学

Dates

Publication Date: 20260505
Application Date: 20230310

Claims (3)

1. The remote three-dimensional visual control system for the parallel mechanism is characterized by comprising a mechanism data acquisition system and a remote three-dimensional visual control platform, wherein the mechanism data acquisition system and the remote three-dimensional visual monitoring platform are in communication connection through a cloud server and are used for carrying out information exchange and remote control through the cloud server; The mechanism data acquisition system comprises a motion control module, a data acquisition module and a mechanism communication module; The motion control module is used for executing the control instruction sent by the remote three-dimensional visual control platform in real time; The data acquisition module is used for acquiring various parameters in the running process of the mechanism; The mechanism communication module is used for transmitting all parameters acquired by the data acquisition module to the remote three-dimensional visual control platform through the cloud server and receiving a control instruction sent by the remote three-dimensional visual control platform; The parameters comprise speed, acceleration and position parameters of key parts of the parallel mechanism, wherein the key parts comprise a motor and a movable platform; the remote three-dimensional visual control platform comprises a platform communication module, a data analysis module, a model driving module, a model display module, a data display module and a control module; the platform communication module is used for sending the control instruction to the mechanism data acquisition system through the cloud server and receiving various parameters of the mechanism data acquisition system; the data analysis module is used for analyzing and verifying various parameters, judging whether the mechanism moves correctly according to the instruction, and feeding corresponding results back to staff; The model driving module is used for constructing the same model as the parallel mechanism and driving the model according to the instruction of the control module so that the motion trail of the model is consistent with that of the parallel mechanism; the model display module is used for displaying the motion state of the model on the UI interface; the data display module is used for displaying real-time motion parameter values of the parallel mechanism; The control module is used for controlling the movement of the model according to various parameters of the mechanism or input instructions of a user; the control module has two control modes: Firstly, a control model driving module completes movement consistent with a mechanism according to various received parameters of a parallel mechanism, and dynamically monitors the movement state of the mechanism in real time; Secondly, the control module receives the motion parameters set by the user through the control panel and is used for driving the model driving module, and the control module collects the model motion parameters as a control instruction to control the mechanism to move; The remote three-dimensional visual control platform is built on the Unity 3D/CoppeliaSim; the data are communicated through a Web Service/Socket communication protocol arranged at the cloud, and the communication mode is based on a C/S architecture; the mechanism data acquisition system comprises a motor encoder arranged at the motor, an angle sensor arranged at the hinge of the movable platform and a vision system arranged above the parallel mechanism.
2. The remote three-dimensional visual control system of a parallel mechanism according to claim 1, wherein the data analysis module specifically works as follows: and comparing each parameter with the control instruction, judging whether the mechanism moves correctly according to the instruction, if not, disabling the control module and reporting errors, and if so, continuing to execute the movement of the driving model.
3. The remote three-dimensional visual control system of a parallel mechanism according to claim 2, wherein the data analysis module further comprises matching and analyzing each parameter with a common mechanism fault parameter, and if the matching is similar, the data analysis module indicates that the mechanism is about to be faulty, and the module sends out fault early warning.

Description

Remote three-dimensional visual control system for parallel mechanism Technical Field The invention relates to the field of automatic control, in particular to a remote three-dimensional visual control system for a parallel mechanism. Background Along with the rapid development of new generation information technologies such as big data, internet of things, cloud computing and the like, the manufacturing industry is more and more intelligent and data-based. The robot remote control technology is an important component of robot intelligence, and is characterized in that the robot is connected into a network through a network communication technology to exchange data and transmit instructions in the network, so that the aim of remotely controlling the movement of the robot is fulfilled. The remote control of the existing robot still has a large lifting space. The existing remote control technology mainly uses a worker to imagine and reconstruct the running state of the robot in the brain according to the running data of the robot on a data panel, further uses visual feedback to watch the pose of the robot, and then inputs a control instruction on a control panel to realize the purpose of remotely controlling the robot. The control method can not achieve what you see is what you get, even if the visual feedback can only provide one or more visual angle feedback, can not provide the feeling of presence and immersion for researchers, affects the interaction experience and control efficiency of the researchers, and can not meet the requirement of increasingly intelligent robots. The remote control of the robot needs better use experience, including visual interface design, visual comprehensive display of the motion state of the robot, easy-to-use control function, real-time feedback of the motion state of the robot and the like. Disclosure of Invention In order to overcome the defects and shortcomings of the prior art, the invention aims to provide a remote three-dimensional visual control system of a parallel mechanism. The aim of the invention is achieved by the following technical scheme: The remote three-dimensional visual control system for the parallel mechanism comprises a mechanism data acquisition system and a remote three-dimensional visual control platform, wherein the mechanism data acquisition system and the remote three-dimensional visual monitoring platform are in communication connection through a cloud server, and information exchange and remote control are carried out through the cloud server. Further, the mechanism data acquisition system comprises a motion control module, a data acquisition module and a mechanism communication module; The motion control module is used for executing the control instruction sent by the remote three-dimensional visual control platform in real time; The data acquisition module is used for acquiring various parameters in the running process of the mechanism; The mechanism communication module is used for transmitting all parameters acquired by the data acquisition module to the remote three-dimensional visual control platform through the cloud server and receiving a control instruction sent by the remote three-dimensional visual control platform. Further, the parameters include speed, acceleration and position parameters of key parts of the parallel mechanism, wherein the key parts include a motor and a movable platform. Further, the remote three-dimensional visual control platform comprises a platform communication module, a data analysis module, a model driving module, a model display module, a data display module and a control module; the platform communication module is used for sending the control instruction to the mechanism data acquisition system through the cloud server and receiving various parameters of the mechanism data acquisition system; the data analysis module is used for analyzing and verifying various parameters, judging whether the mechanism moves correctly according to the instruction, and feeding corresponding results back to staff; The model driving module is used for constructing the same model as the parallel mechanism and driving the model according to the instruction of the control module so that the motion trail of the model is consistent with that of the parallel mechanism; the model display module is used for displaying the motion state of the model on the UI interface; the data display module is used for displaying real-time motion parameter values of the parallel mechanism; and the control module is used for controlling the movement of the model according to various parameters of the mechanism or input instructions of a user. Further, the control module has two control modes: Firstly, a control model driving module completes movement consistent with a mechanism according to various received parameters of a parallel mechanism, and dynamically monitors the movement state of the mechanism in real time; Second, the control module receive