Parallel mechanism remote three-dimensional visual control system

Abstract

This invention discloses a remote 3D visualization control system for parallel mechanisms, comprising a mechanism data acquisition system and a remote 3D visualization control platform. The mechanism data acquisition system and the remote 3D visualization monitoring platform are connected via a cloud server for information exchange and remote control. This invention reads the real-time motion parameters of the mechanism and remotely reproduces the actual motion state of the mechanism in real time. Operators can intuitively obtain the real-time motion state of the mechanism from a 360-degree perspective using a mechanism model on a mobile phone or computer, achieving a high degree of visualization.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and in particular to a remote three-dimensional visualization control system for parallel mechanisms. Background Technology

[0002] With the rapid development of new-generation information technologies such as big data, the Internet of Things, and cloud computing, the manufacturing industry is becoming increasingly intelligent and data-driven. Robot remote control technology is a crucial component of robot intelligence. It refers to connecting robots to a network via network communication technology, exchanging data and transmitting commands to remotely control the robot's movement. Currently, there is still significant room for improvement in robot remote control. Existing remote control technologies primarily involve operators visually imagining and reconstructing the robot's operational status based on data from a data panel. More advanced methods involve viewing the robot's posture through visual feedback and then inputting control commands on the control panel to achieve remote control. This control method cannot provide a WYSIWYG (What You See Is What You Get) experience. Even visual feedback only offers one or more perspectives, failing to provide researchers with a sense of presence and immersion, impacting the interactive experience and control efficiency, and failing to meet the increasingly intelligent demands of robots. Robot remote control requires a better user experience, including intuitive interface design, a clear and comprehensive display of the robot's motion status, easy-to-use control functions, and real-time feedback on the robot's motion status. Summary of the Invention

[0003] In order to overcome the above-mentioned shortcomings and deficiencies of the prior art, the purpose of this invention is to provide a remote three-dimensional visualization control system for parallel mechanisms.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A remote three-dimensional visualization control system for a parallel mechanism includes a mechanism data acquisition system and a remote three-dimensional visualization control platform. The mechanism data acquisition system and the remote three-dimensional visualization monitoring platform are connected through a cloud server and exchange information and perform remote control through the cloud server.

[0006] Furthermore, the mechanism data acquisition system includes a motion control module, a data acquisition module, and a mechanism communication module;

[0007] Motion control module: Used to execute control commands sent from the remote 3D visualization control platform in real time;

[0008] Data acquisition module: used to collect various parameters during the operation of the mechanism;

[0009] Institutional communication module: Used to transmit various parameters collected by the data acquisition module to the remote 3D visualization control platform via the cloud server, and to receive control commands sent by the remote 3D visualization control platform.

[0010] Furthermore, the parameters include the speed, acceleration, and position parameters of the key components of the parallel mechanism, which include the motor and the moving platform.

[0011] Furthermore, the remote 3D visualization control platform includes a platform communication module, a data analysis module, a model-driven module, a model display module, a data display module, and a control module;

[0012] Platform communication module: Used to send control commands to the organization's data acquisition system via the cloud server, and to receive various parameters from the organization's data acquisition system;

[0013] Data analysis module: used to analyze and verify various parameters, determine whether the mechanism moves correctly according to instructions, and provide feedback to staff.

[0014] Model-driven module: Used to build a model identical to the parallel mechanism and drive the model according to the instructions of the control module so that its motion trajectory is consistent with the parallel mechanism;

[0015] Model display module: Used to display the motion state of the model in the UI interface;

[0016] Data display module: Used to display the real-time motion parameter values ​​of the parallel mechanism;

[0017] Control module: Used to control the movement of the model according to the various parameters of the mechanism or the user's input instructions.

[0018] Furthermore, the control module has two control modes:

[0019] The first method involves a control model-driven module that, based on the received parameters of the parallel mechanism, completes a motion consistent with the mechanism and dynamically monitors the motion status of the mechanism in real time.

[0020] The second method involves the control module receiving user-defined motion parameters through the control panel to drive the model drive module. The control module collects the model's motion parameters as control commands to control the mechanism's movement.

[0021] Furthermore, the remote unit visualization control platform is built on Unity 3D / CoppeliaSim.

[0022] Furthermore, data is communicated via a Web Service / Socket communication protocol set up in the cloud, with the communication method based on a client / server architecture.

[0023] Furthermore, the mechanism data acquisition system includes a motor encoder located at the motor, an angle sensor located at the hinge of the moving platform, and a vision system located above the parallel mechanism.

[0024] Furthermore, the specific working process of the data analysis module is as follows:

[0025] The parameters are compared with the control commands to determine whether the mechanism moves correctly according to the commands. If it cannot, the control module is disabled and an error is reported. If it can, the motion of the driving model continues.

[0026] Furthermore, the data analysis module also includes matching and analyzing various parameters with common mechanism failure parameters. If the fit is similar, it indicates that the mechanism is about to fail, and the module issues a fault warning.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] This invention reads the real-time motion parameters of the mechanism and remotely reproduces the actual motion state of the mechanism in real time. Staff can intuitively obtain the real-time motion state of the mechanism through the mechanism model in 360 degrees on their mobile phones or computers. It has a high degree of visualization, a strong sense of immersion for staff, and is convenient and practical.

[0029] This invention allows workers to remotely control parallel mechanisms, improving the safety of hazardous operations and the effectiveness of remote teaching. Attached Figure Description

[0030] Figure 1 This is a structural block diagram of the present invention;

[0031] Figure 2 This is a structural diagram of the mechanical data acquisition system of the present invention;

[0032] Figure 3 This is a structural diagram of the three-dimensional visualization monitoring platform of the present invention.

[0033] The diagram shows:

[0034] 1-Mechanism data acquisition system, 2-Cloud server, 3-3D visualization control platform, 4-Motion control module, 5-Data acquisition module, 6-Mechanism communication module, 7-Platform communication module, 8-Data analysis module, 9-Model-driven module, 10-Model display module, 11-Data display module, 12-Control module. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the embodiments, but the implementation of the present invention is not limited thereto.

[0036] like Figure 1As shown, a remote three-dimensional visualization control system for a parallel mechanism includes a mechanism data acquisition system and a remote three-dimensional visualization control platform. The mechanism data acquisition system and the remote monitoring platform are connected through a cloud server and exchange information and perform remote control through the cloud server.

[0037] like Figure 2 As shown, the mechanism data acquisition system 1 includes a motion control module 4, a data acquisition module 5, and a mechanism communication module 6;

[0038] Motion control module 4: Used to execute control commands sent from the remote 3D visualization control platform in real time;

[0039] Data acquisition module 5: Used to collect various parameters during the operation of the mechanism;

[0040] Mechanism Communication Module 6: Used to transmit various parameters collected by the data acquisition module to the remote 3D visualization control platform via the cloud server, and to receive control commands sent by the remote 3D visualization control platform.

[0041] like Figure 3 As shown, the remote 3D visualization control platform 3 includes a platform communication module 7, a data analysis module 8, a model driving module 9, a model display module 10, a data display module 11, and a control module 12;

[0042] The platform communication module 7 sends control commands to the mechanism via the cloud server 2 and receives motion parameters from the mechanism.

[0043] The data analysis module 8 analyzes and verifies the received motion parameters of the mechanism, determines whether the mechanism can move correctly according to the instructions, and feeds back the corresponding results to the staff.

[0044] The model-driven module 9 processes the model, assigning it physical properties including but not limited to gravity and collision properties. The motion of the processed model conforms to actual physical laws.

[0045] The control module 12 offers two selectable control modes. The first mode involves issuing control commands to the mechanism via the control panel. In this mode, the model-driven module 9 uses the received mechanism motion parameters to drive the model in real-time, mimicking the mechanism's motion and dynamically monitoring its state. The second mode reads the model's motion parameters as control commands. In this mode, the model-driven module 9 intuitively controls the model's motion via mouse, keyboard, or virtual joystick. This motion is optimized through physics engine simulation and conforms to the inverse kinematics of the mechanism. The control module 12 collects the model's motion parameters as control commands to control the mechanism to perform motion identical to the model.

[0046] The model display module 10 displays the mechanism model on the UI interface, and the model's motion state is consistent with that of the mechanism.

[0047] The data display module 11 displays the real-time motion parameter values ​​of the mechanism.

[0048] The remote 3D visualization control platform 3 of this invention is built on Unity 3D / CoppeliaSim. After the platform issues control commands through the control module 12, the data is sent to the mechanism communication module 6 via a Web Service / Socket communication protocol deployed in the cloud. The communication method is based on a C / S architecture, which can ensure the stability of communication. After receiving the control commands, the mechanism motion control module 4 controls the mechanism to move according to the commands through a motion control algorithm. The mechanism communication module 6 and the motion control module 4 are deployed on a PLC programmable controller / industrial computer. The mechanism's data acquisition system 5 includes a motor encoder at the motor, an angle sensor deployed at the hinge of the moving platform, and a vision system above the mechanism. The acquired data includes, but is not limited to, the speed, acceleration, and position parameters of key components such as the motor and the moving platform. This data is sent to the remote 3D visualization control platform 3 through the mechanism communication module 6. After receiving the mechanism motion parameters, the data analysis module 8 compares the mechanism motion parameters with the previously issued control commands to determine whether the mechanism can move correctly according to the control commands. If not, the control module is disabled and an error is reported. If it can, the operator can obtain the specific values ​​of the motion parameters in the data display module 11. Meanwhile, these motion parameters are also used in the model-driven module 9 to control the model to move in the same way as the mechanism through control algorithms. Staff can intuitively perceive the motion state of the mechanism through the model display module 10. The data analysis module 8 can perform matching analysis on the mechanism's motion parameters and common mechanism fault parameters. If the fitting results of the two are similar, it indicates that the mechanism may be about to fail, and the module issues a fault warning.

[0049] This invention reads the real-time operating parameters of a mechanism and remotely reproduces its actual operating state in real time. Operators can intuitively obtain the mechanism's status and remotely control its movement from a 360-degree perspective through the model display module on their mobile phones or computers. The high degree of visualization and immersive experience enhances the operator's understanding. This invention also enables remote control of parallel mechanisms, improving the safety of hazardous operations and the effectiveness of remote teaching.

[0050] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A remote three-dimensional visualization control system for parallel mechanisms, characterized in that, It includes an institutional data acquisition system and a remote 3D visualization control platform. The institutional data acquisition system and the remote 3D visualization monitoring platform are connected through a cloud server and exchange information and perform remote control through the cloud server. The mechanism data acquisition system includes a motion control module, a data acquisition module, and a mechanism communication module; Motion control module: Used to execute control commands sent from the remote 3D visualization control platform in real time; Data acquisition module: used to collect various parameters during the operation of the mechanism; Institutional communication module: used to transmit various parameters collected by the data acquisition module to the remote 3D visualization control platform through the cloud server, and to receive control commands sent by the remote 3D visualization control platform; The parameters include the speed, acceleration, and position parameters of the key components of the parallel mechanism, which include the motor and the moving platform. The remote 3D visualization control platform includes a platform communication module, a data analysis module, a model driving module, a model display module, a data display module, and a control module. Platform communication module: Used to send control commands to the organization's data acquisition system via the cloud server, and to receive various parameters from the organization's data acquisition system; Data analysis module: used to analyze and verify various parameters, determine whether the mechanism moves correctly according to instructions, and provide feedback to staff. Model-driven module: Used to build a model identical to the parallel mechanism and drive the model according to the instructions of the control module so that its motion trajectory is consistent with the parallel mechanism; Model display module: Used to display the motion state of the model in the UI interface; Data display module: Used to display the real-time motion parameter values ​​of the parallel mechanism; Control module: Used to control the movement of the model according to the various parameters of the mechanism or the user's input instructions; The control module has two control modes: The first method involves a control model-driven module that, based on the received parameters of the parallel mechanism, completes a motion consistent with the mechanism and dynamically monitors the motion status of the mechanism in real time. The second method involves the control module receiving motion parameters set by the user through the control panel, which are then used to drive the model drive module. The control module collects the model motion parameters as control commands to control the movement of the mechanism. The remote 3D visualization control platform was built on Unity 3D / CoppeliaSim; Data is communicated via a Web Service / Socket communication protocol set up in the cloud, and the communication method is based on a client / server architecture; The mechanism data acquisition system includes a motor encoder located at the motor, an angle sensor located at the hinge of the moving platform, and a vision system located above the parallel mechanism.

2. The remote three-dimensional visualization control system for parallel mechanisms according to claim 1, characterized in that, The specific working process of the data analysis module is as follows: The parameters are compared with the control commands to determine whether the mechanism moves correctly according to the commands. If it cannot, the control module is disabled and an error is reported. If it can, the motion of the driving model continues.

3. The parallel mechanism remote three-dimensional visualization control system according to claim 2, characterized in that, The data analysis module also includes matching and analyzing various parameters with common mechanism failure parameters. If the fit is similar, it indicates that the mechanism is about to fail, and the module issues a fault warning.

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