Research On Industrial Robot Monitoring Systems Based On Socket Communication

With the development of the industrial automation,industrial robots have become indispensable equipments like CNC machine tools in the industrial production."Made in China 2025" plan is pointed out that Chinese manufacturing industry needs to gradually upgrade to the industrial 4.0 era."Internet + manufacturing" is one of the salient features of the Industrial 4.0.Interoperability between robots is achieved through the Internet.Therefore,it is more and more important to study the monitoring system for industrial robots based on the network communication technology.Based on the analysis of the research status of industrial robot monitoring systems at home and abroad,a monitoring system for St?ubli-TX90 and EPSON-G6 industrial robots is designed based on Socket communication.The monitoring system is mainly divided into a local monitoring terminal and a remote monitoring terminal.The main works and achievements of this thesis are as follows:Firstly,based on the C/S mode,the local monitoring procedure is programmed by the MFC class library.The software achieves synchronous communication with St?ubli-TX90 and EPSON-G6 industrial robots based on socket communication mechanism.It also reaches real-time display of the three-dimensional robot posture based on OpenGL class library and kinematics calculation.Based on PostgreSQL database and ADO database access technology,the robots end coordinate trajectories are stored to the remote database.Secondly,also in the local monitoring procedure,the intelligent vision monitoring of the robot's operating environment is completed with OpenCV and “Hai Kang SDK”.The robot's motion tool area and the maximum motion area are tracked by Camshift algorithm and motion template algorithm.At the same time,the pixel coordinates of the detected robot's motion tool area or the maximum motion area in the image is stored to the remote database.When the robot's motion tool area or the maximum motion area detected in the screen exceeds the camera viewing angle range,a dangerous alarm will be issued.Thirdly,based on the B/S mode,the remote monitoring procedure is completed with the J2 EE platform.The remote monitoring of the industrial robot's operating data and the operating environment is realized in the web page.The software implements the user management based on AJAX asynchronous requests.It also achieves the latest real-time robot's data to the web page with websocket protocol.The remote intelligent visual monitoring of the robot's operating environment is also attained based on the "Red5+Flex" technology.Lastly,the works done are summarized,and some contents which can be improved are pointed out.