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使用远程网络控制系统的三轴机器人
Min-Chie Chiu, Tian-Syung Lan, Ho-Chih Cheng 自动控制工程系，中州技术学院，彰化，台湾，中国 宇达商业科技大学资讯管理系，苗栗县，台湾，中国
摘要 对于石油行业，在有发生瓦斯爆炸危险的工作区使用防爆设备以降低风险，如空气驱动装置，这对于避免爆炸是必不可少的。此外，使用一个可视化的监测系统和网络的远程操作的机器人，以达到节省人力的目的。然而，要克服昂贵的人力成本的缺点和提高防爆区域的安全，提出了使用远程网络控制一个三轴机器人的系统控制。在本文中，三轴的机器人可以经由USB协议被在线监视。此外，它也可以通过点击客户端PC上的VB接口的命令，利用TCP/ IP协议远程操作。因此，远程控制三轴机器人不仅能在严重和危险的情况下为人们工作，而且还可以降低人力成本。
关键词：三轴机器人，远程网络监控
1.简介
在现代世界发展的新趋势，机器人开始感觉到他们的存在。为了提高这个过程，并减少不必要的人力，各种工业机器人已被广泛开发[1]。传统的机器人已被禁止在爆炸危险区使用电机驱动。为了克服这个缺点，需要一个新的设计要求的防爆电机[2]。但是，它是非常昂贵的。因此，在石油工业中为避免引起爆炸的火花，空气驱动装置对于防止爆炸是必要的[3,4]。目前，各种机器人已被提出，但是他们缺乏远程机器人和用户之间的交互性。为了在危险的工作区手动操作机器人执行特定的工作，一个空气系统驱动的远程控制机器人是非常重要的。在本文中，三轴机器人配备一个网络摄像头，它可以通过USB协议进行在线监视。显然，远程控制三轴机器人不仅可以为人们在动荡和危险的情况下工作，还可以降低人力成本。因此，一个基于PC的控制系统使用VB在一个服务器电脑和客户端PC通过RS232/RS485协议建立接口。2.基于PC的远程控制系统
用于减少人力的工业加工的自动化系统是随处可见。正如图1中，使用两个VB经由网络接口（一个服务器中的PC和另一个在客户端中的PC）和Web摄像头已建立的远程三轴机器人系统。正如在图2中所示，施加两种系统模量（7060D和7520）中的远程监视/控制系统。由于RS232协议传送的距离超过十五米时信号会产生严重的衰减，一个新建议的协议（RS485）在长距离传输时信号衰减的影响是微不足道的[5,6]。在这里，7520是一个从RS232—RS485协议的转换设备[7,8]。通过RS232/RS485转换器从服务器PC发出的命令将被发送到其他模量。电磁控制阀的硬件如图3所示用于操纵的活塞运动（即机器人臂的运动）使用一个7060D模块的DI/O（数字输入和输出），被发射的信号从一个服务器PC通过一个7520A模块（从RS232，RS285协议转换器）。正如图4所示，电磁控制阀7060模块通过使用一个VB接口的服务器PC上一个RS232/RS485协议触发数字信号输出。控制阀的位置状态会从控制阀(a0, a1, b0, b1, c0, and c1)传送的磁信号被7060模块的数字输入信号检测到。
图1 远程三轴机器人系统
图2 两种模块
图3 三个电磁控制阀相对于活塞的图表
图4 导线连接的模块
正如在图5和图6中所示，用户可以通过点击的移动按钮通过VB 服务器PC和客户端PC上的对话相关的电磁控制阀操纵机器人的手臂。此外，当前位置活塞A，B和C监测的灯光A +，A-，B+，B-，C+，和C-可以在服务器和客户端PC的VB对话框中控制。
气动机械臂在被执行之前，系统在系统的测试图的基础上进行确认。正如在图7中所示，三个电磁控制阀的信号的操纵过程中将被重新检查。此外，也可以通过单击命令按钮，在PC界面上VB的对话框中触发相关的活塞将灯光A +，A-，B+，B-，C+，和C-作出回应。
图5 VB对话框（PC服务器）手动移动机器人的手臂 要监视在线的真实运动的机器人手臂，需要安装一个网络摄像头。机器人手臂的图像将被捕获，并通过一个USB协议发送回至服务器电脑。此外，图像将通过TCP / IP协议被传输到客户端电脑。
图6 VB对话框（PC客户端）手动移动机器人的手臂
3.结果与讨论 3.1 结果
正如在图5和图6上所示，使用两个VB的接口（一个中的服务器的PC和客户端中的pc），通过网络与Web摄像头的一个三轴机器人的远程控制已经成功建立。在客户端电脑可以被操纵，TCP/ IP协议的基础上，应先连接电脑的服务器和在客户端的电脑对话中输入IP地址和运输端口号。要保持的机器人臂的特定移动，6个按钮（x轴正向，x轴向后，y轴转发，y轴向后，z轴的正向，和z轴向后，）对应于服务器电脑VB对话框的上选择机器人的动作。
3.2 讨论
用户可以通过服务器PC和客户端PC操纵机器人手臂。VB界面所示的机器人手臂（活塞的位置的电磁信号）的状态将通过TCP / IP协议被发送到PC客户端。点击在客户端PC的命令，也将被发送到服务器的PC导致的电磁控制阀的动作，从而通过切换空气路径控制所述活塞的活塞运动。同时，活塞的位置信号将被转换成的灯光A +，A-，B+，B-，C+，和C-显示在两个VB在PC服务器和客户端的对话框上。此外，机器人手臂的图像通过USB协议将被捕获并发送到服务器PC。通过TCP / IP协议图像将从PC服务器传输到PC客户端。4.结论
这证明该远程控制系统控制的空气驱动三轴机器人手臂节省了人力，避免了爆炸，并提高了工业生产过程。传统的机器人已被禁止在危险爆炸区使用电机驱动。此外，另一种用电气马达防爆的设计是昂贵的。因此，为了节省人力，避免发生爆炸的危险，同时，降低成本费用，使用空气驱动的机器人手臂是必要的。空气驱动的机器人在无火花化学过程中，并使用VB对话可以安全地和远程操纵，它通过RS232/RS485协议，利用电磁控制阀，以触发一个空气驱动的活塞。此外，通过经由USB协议的监控机器人臂运动的图像发送到服务器电脑。此外，机器人运动的图像将通过TCP / IP协议被转发到客户端电脑机。在客户端PC的用户也可以在客户端PC使用VB界面通过TCP / IP协议操纵机器人运动。
因此，应当指出，如果在危险的工作环境中进行操作时，使用远程网络监视/控制系统控制空气驱动的机械臂，工人/植物和工业过程的安全和效率将得到改善。
5.致谢
作者感谢财政支持这个项目（CCUT-AI-96-AC02）。笔者感谢匿名审稿人友情提供的建议和意见，以改进这项工作。
6.参考文献
[1] M.C.Chiu, L.J.Yeh and Y.C.Lin, “The Design and Application of a Robot ic Vacuum Cleaner,”Journal of Information & Optimization Sciences, Vol.30, No.1, 2009, pp.39-62.[2] H.A.Akeel and A.J.Malarz, “Electric Robot for Use in a Hazardous Location,” United States Patent 4984745, 2002.[3] Users’ Guidebook for Explosion Protection Electric Facility, Guildline, RIIS-TR-94-2, National Institute of Industrial Safety, 1994.[4] M.-R.Lin and C.-Y.Chen, “Applications of Inherently Safer Design on Industrial Procees,” Chemical Engineering, Vol.47, No.1, 2000, pp.41-51.[5] M.C.Chiu, “An Automatic Thermal Control on Green-house Using Network Remote Controlling System,” Journal of Applied Sciences , Vol.10, No.17, 2010, pp.1944-1950.[6] M.C.Chiu,“A Multi-Function Aquarium Equipped with Automatic Thermal Control/Fodder-Feeding/Water Treat-ment Using Network Remote Controlling System,” Information Technology Journal , Vol.9, No.7, 2010, pp.1458-1466.[7] M.C.Chiu, “The Study of Remote Network Monitoring and Controlling System on Thermal Procedure,” in: Y.-L.Chang-Hwa and C.-H.Chai-Ialley, Eds., The Proceedings of 2008 Academic Joint Venture, 2008.[8] M.C.Chiu, H.C.Cheng and M.J.Hsu, “The Study of Remote Network Monitoring and Controlling System on Gas-Driven Robotic,” The Proceedings of Mechanics, Light, and Electricity, San-Johns Technical University, Taipei, 2008.A Three-Axis Robot Using a Remote Network Control System
Min-Chie Chiu, Tian-Syung Lan, Ho-Chih Cheng Department of Automatic Control Engineering, Chungchou Institute of Technology,Changhua, Taiwan, China
Department of Information Management, Yu Da University, Miaoli, Taiwan, China
E-mail : tslan888@yahoo.com.tw
Received August 7 , 2010;revised October 8 , 2010;accepted October 18 , 2010
Abstract For the petroleum industry, to reduce the risk of a gas explosion in dangerous working areas, the use of explosion-proof equipment such as air-driven devices which are free from explosions becomes eential.Moreover, for the purpose of saving manpower, a remote operation using a robot via a visual monitoring system and a network is used.However, to overcome the drawback of costly manpower and to improve safety in explosion-prone zones, a three-axis robot using a remote network control system is proposed.In this paper, the three-axis robot can be monitored on line via the USB protocol.Furthermore, it also can be remotely manipulated via the TCP/IP protocol by clicking the command of the VB interface on the client pc.Consequently, the remote-control three-axis robot can not only work for people in severe and dangerous circumstances but also can reduce the cost of manpower.Keywords: Three-Axis Robot, Remote Network Monitoring
1.Introduction
As new trends in the modern world evolve, robots begin to make their presence felt.In order to improve the proce and reduce unneceary manpower, various industrial robots have been widely developed [1].Traditional robot driven by electrical motor used in a dangerous explosion zone has been prohibited.To overcome the drawback, a new design of explosion proof for an electrical motor is required [2].However, it is extremely expensive.Therefore, to avoid explosions caused by sparks in the petroleum industry, an air-driven device which is explosion free is neceary [3,4].Currently, various robots have been presented;however, they lack remote interactivity between the robot and the user.In order to manually operate a robot to execute a specific job in a dangerous working area, a remote-control robot system driven by air is vital.In this paper, the three-axis robot equipped with a web camera, which can be monitored online via the USB protocol, is established.Obviously, the remote-control three-axis robot not only can work for people in volatile and dangerous circumstances but also can lower the cost of manpower.Consequently, a PC-based control system is constructed using a VB interface in both a sever pc and a client pc via the RS232/RS485 protocol.2.A PC-Based Remote Controlling System
Automation systems used in industrial proceing to reduce manpower are seen everywhere.As indicated in Figure 1, a remote three-axis robot system using two VB interfaces(one in the sever pc and the other in the client pc)via a network and a web camera has been established.As indicated in Figure 2, two kinds of system modulus(7060D and 7520)are applied in the remote monitoring/control system.Because of the serious decay of the signal for a RS232 protocol traveling over a distance of fifteen meters, a new protocol(RS485)in which the effect of signal decay is trivial for long-distance transportation is recommended [5,6].Here, the 7520 module is a protocol transfer device from RS232 to RS485 [7,8].A command emitted from the sever pc will be sent to other modulus via the RS232/RS485 converter.The hardware of the electromagnetic control valve shown in Figure 3 is used to manipulate the piston motion(i.e., the motion of the robotic arm)using a 7060D module’s DI/O(digital input and output)that is emitted from a sever pc via a 7520A module(a protocol translator from RS232 to RS285).As indicated in Figure 4 , the electromagnetic control valve will be triggered by the digital output signal of the 7060 module via a RS232/RS485 protocol using a VB interface on the sever pc.The status of the piston positions will be also detected by the digital input signal of the 7060 module transmitted from the magnetic signals(a0, a1, b0, b1, c0, and c1)of the pistons.Figure 1.A remote three-axis robot system.Figure 2.Two kinds of modulus.Figure 3.The diagram of the pistons with respect to three electromagnetic control valves.As indicated in Figures 5 and 6 , the user can manipulate the robot’s arm by clicking the movement button to actuate the related electromagnetic control valve via the VB dialogue on both the pc sever and the pc client.Moreover, the current position of pistons A, B, and C will be monitored by the lights of A+, A–, B+, B–, C+, and C– in the VB dialogues in pc server and client.Before the gas robotic arm is performed, the system confirmation is carried based on a system testing diagram.As indicated in Figure 7 , the signals of three electromagnetic control valves will be rechecked during the manipulating proce.Besides, the related piston triggered by clicking the command button in the VB dialogue will also be responded to the lights of A+, A–, B+, B–, C+, and C– in pc’s interface.To monitor the real motion of robotic arm online, a web camera is installed.The image of the robotic arm will be caught and sent back to the sever pc via a USB protocol.Moreover, the image will be transmitted to the client pc via the TCP/IP protocol.Figure 4.The wire connections of the modulus.3.Results and Discuion
3.1.Results
As indicated in Figures 5 and 6 , the remote control of a three-axis robot using two VB interfaces(one in the sever pc and the other in the client pc)via a network and a web camera has been established succefully.Before the client pc can be manipulated, based on the TCP/IP protocol, the sever pc shall be connected first by inputting the IP addre and transp ort number in the client’s pc dialogue.To keep the
Figure 5.The manual movement of the robot’s arm on the VB dialogue(pc sever).Figure 6.The manual movement of the robot’s arm on the VB dialogue(pc client).Figure 7.A system testing diagram for a remote-controlled three-axis robotic arm.robotic arm in a specific motion, six buttons(x-axis forward, x-axis backward, y-axis forwarding, y-axis backward, z-axis forward, and z-axis backward,)of the robot’s motion will be selected on the VB dialogue of the sever pc.3.2.Discuion
The user can manipulate the robotic arm in both the pc sever and the pc client.The status of the robotic arm(the electromagnetic signal of the piston’s location)shown in the VB interface will be transmitted to the pc client via a TCP/IP protocol.The command clicked in the pc client will be also transmitted to the pc sever to actuate the electromagnetic control valve so as to control the piston motion of the piston by switching the air path.Meanwhile, the signals of pistons’position will be translated as the lights of A+, A–, B+, B–, C+, and C– shown in two VB dialogues in pc server and client.Moreover, the image of the robotic arm will be caught and sent to the pc sever using the USB protocol.The image will be then transmitted from the pc sever to the pc client via the TCP/IP.4.Conclusions
It has been shown that a remote control system dealing with an air-driven three-axis robotic arm reduces manpower, avoids the explosion, and improves the industrial proce.Traditional robot driven by electrical motor used in a dangerous explosion zone has been prohibited.Moreover, an alternative design of explosion proof for an electrical motor is expensive.Therefore, in order to save manpower, avoid the danger for explosion simultaneously, and to cost down the f ee of machine, an air-driven robotic arm is compulsory.The air-driven robot provides no spark in the chemical proce and can be safely and remotely manipulated using a VB dialogue to trigger an air-driven piston, which is actuated by an electromagnetic control valve via the RS232/RS485.Additionally, a visual monitoring of the robotic arm is performed by transmitting the image of the robotic motion to the sever pc via the USB protocol.Moreover, the image of the robotic motion will be forwarded to the client pc via the TCP/IP protocol.The user at the client pc can also manipulate the robotic motion using a VB interface at the client pc via the TCP/IP protocol.Consequently, it is noted that both the safety of workers/plant and the efficiency of the industrial proce will be improved if an air-driven robotic arm in conjunction with a remote network monitoring/control system is applied when operating in a dangerous work environment.5.Acknowledgements
The authors acknowledge the financial support of the Project(CCUT-AI-96-AC02).The author would like to thank the anonymous referees who kindly provided the suggestions and comments to improve this work.6.References
[1] M.C.Chiu, L.J.Yeh and Y.C.Lin, “The Design and Application of a Robot ic Vacuum Cleaner,” Journal of Information & Optimization Sciences, Vol.30, No.1, 2009, pp.39-62.[2] H.A.Akeel and A.J.Malarz, “Electric Robot for Use in a Hazardous Location,” United States Patent 4984745, 2002.[3] Users’ Guidebook for Explosion Protection Electric Facility, Guildline, RIIS-TR-94-2, National Institute of Industrial Safety, 1994.[4] M.-R.Lin and C.-Y.Chen, “Applications of Inherently Safer Design on Industrial Procees,” Chemical Engineering, Vol.47, No.1, 2000, pp.41-51.[5] M.C.Chiu, “An Automatic Thermal Control on Green-house Using Network Remote Controlling System,” Journal of Applied Sciences , Vol.10, No.17, 2010, pp.1944-1950.[6] M.C.Chiu,“A Multi-Function Aquarium Equipped with Automatic Thermal Control/Fodder-Feeding/Water Treat-ment Using Network Remote Controlling System,” Information Technology Journal , Vol.9, No.7, 2010, pp.1458-1466.[7] M.C.Chiu, “The Study of Remote Network Monitoring and Controlling System on Thermal Procedure,” in: Y.-L.Chang-Hwa and C.-H.Chai-Ialley, Eds., The Proceedings of 2008 Academic Joint Venture, 2008.[8] M.C.Chiu, H.C.Cheng and M.J.Hsu, “The Study of Remote Network Monitoring and Controlling System on Gas-Driven Robotic,” The Proceedings of Mechanics, Light, and Electricity, San-Johns Technical University, Taipei, 2008.
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