Swing arm structure motion control method and swing device

Abstract

The present invention relates to the technical field of swing structures and container inspection equipment, and in particular to a swing arm structure motion control method and a swing device. Among them, a swing arm structure motion control method, the control method comprises: a trajectory averaging step; a time calculation step; a function relationship acquisition step; a detection head coordinate acquisition step; a detection head speed acquisition step; a screw seat speed acquisition step; a screw seat control step. The empty box detection device is used to inspect the container by using the detection head, and the average speed V of the current segment of the screw seat is obtained by this method. cn and make the screw seat have the average speed V of the current segment cn It moves along the guide rail to drive the detection head to swing, thereby driving the detection head close to the container.

Description

Technical Field

[0001] The present invention relates to the technical field of swing structures and container inspection equipment, and in particular to a swing arm structure motion control method and a swing device. Background Art

[0002] In the whole process of logistics services such as port container line operation, freight forwarding, truck transportation, logistics distribution, warehousing, "bulk to container" and customs declaration and inspection, port management departments and container shipping companies have to spend a lot of energy to ensure the safety of goods in transit in the links of container cargo transportation, circulation, entry and exit and customs inspection. One of the links is the need to check the unloading of containers, especially to check whether the containers are completely unloaded.

[0003] Before 2017, the customs used three methods to verify the declared empty containers: manual unpacking, automatic recording by high-position cameras, and imaging inspection by large X-ray machines, which had problems of low efficiency and radiation safety. After 2017, some customs adopted a new type of contact sound technology for detection, such as the invention patent: a method, system and detector for empty container detection disclosed on July 6, 2018 with the publication number CN108254439A. The empty container detection device generates sound waves in the container, specifically using an exciter to knock on the container to generate sound waves, and then collecting and analyzing the sound waves to determine whether it is an empty container, and using a "positioning device" as a driving device to move the empty container detection device to the bottom beam position of the container body. However, the control method of the "positioning device" used to move the empty container detection device to the bottom beam position of the container body has not been described in more detail.

[0004] Therefore, the industry is in urgent need of a control method that can serve as a driving source to drive an empty container detection device or an inspection device to approach a container, thereby facilitating the inspection of the internal information of the container. Summary of the invention

[0005] The purpose of the present invention is to provide a swing arm structure motion control method and a swing device to address the deficiencies in the prior art, so as to drive an empty container detection device or an inspection device to approach a container.

[0006] The present invention achieves the above-mentioned purpose through the following technical scheme: a swing arm structure motion control method, the control method comprising:

[0007] Trajectory averaging steps: divide the movement stroke of the screw seat into max Divided equally into M driving segments;

[0008] Time calculation steps: The total movement time t of the detection head is divided by M to obtain the average time Δt used for each swing segment;

[0009] Functional relationship acquisition step: obtaining the functional relationship corresponding to the geometric structure between the detection head and the screw seat;

[0010] The detection head coordinate acquisition step: the current coordinate of the screw seat is substituted into the functional relationship to obtain the corresponding current coordinate of the detection head; similarly, the coordinates of the two nodes corresponding to the current swing segment of the detection head are obtained, and then the distance between the two nodes is calculated;

[0011] Steps for obtaining the detection head speed: Divide the distance by Δt to obtain the average speed V of the current swing segment of the detection head dn Similarly, the average speed of all swing segments is obtained and accumulated, and then the accumulated value is divided by M to obtain the average speed V of the total movement stroke of the detection head d ;

[0012] Screw seat speed acquisition steps: Calculate the speed ratio of the detection head (1) Then calculate the average speed of the screw seat Divide the average speed of the screw seat by the speed ratio of the detection head to obtain the average speed V of the current drive segment of the screw seat. cn ;

[0013] Screw seat control steps: The screw seat uses the average speed V of its current driving segment cn Move along a predetermined trajectory to drive the detection head to swing.

[0014] As a further solution of the present invention, the screw seat control step further includes: the main control unit controls the drive mechanism to move so that the drive mechanism drives the screw seat with the average speed V of the current drive segment. cn The screw seat moves along the guide rail, and drives the short swing arm and the long swing arm to swing during the movement, so that the detection head on the long swing arm swings.

[0015] As a further solution of the present invention: the swing device manufactured by the swing arm structure motion control method comprises a swing arm rod, the swing arm rod comprises a short swing arm and a long swing arm at a fixed angle; a connecting rod, one end of which is hinged to the long swing arm and the other end is hinged to the side wall of the swing device; a transmission assembly; and the driving mechanism drives the transmission assembly to drive the end of the short swing arm away from the long swing arm to move in a straight line direction; wherein the hinge point at which the connecting rod is hinged to the swing device is point F, the intersection point of the short swing arm and the long swing arm is point E, the intersection point of the connecting rod and the long swing arm is point G, and the end of the long swing arm away from the short swing arm is point D;

[0016] The trajectory averaging step also includes:

[0017] Initialization steps: establish a plane rectangular coordinate system with the direction in which the screw seat slides upward along the guide rail as the positive direction of the Y axis and the bottom end of the screw seat sliding downward along the guide rail as the origin, where the corresponding point C of the screw seat moves on the Y axis of the coordinate system, the coordinates of point C are (0, a), and the coordinates of point F are (-b, c); input parameters b, c, e, h, f and β.

[0018] As a further solution of the present invention, the trajectory averaging step further includes: every time point C moves upward by m unit distances, the coordinates of the detection head corresponding to point D are recorded once, where a is the ordinate of point C, a max is the maximum value of a;

[0019] The functional relationship acquisition step further includes: the functional relationship is obtained using formulas (1) to (8);

[0020] The detection head speed acquisition step also includes: the average speed V of the current swing segment of the detection head dn The average speed V of the total movement stroke of the detection head is obtained by using formula (11): d Use formulas (10) to (12) to find out;

[0021] The step of obtaining the speed of the screw seat further includes: the average speed V of the current driving segment of the screw seat (223) cn Use formulas (9) to (13) to find out;

[0022]

[0023] θ=∠FCJ+90°=∠FCG+∠GCD(7)

[0024]

[0025] In the formula, a is the ordinate of point C, (-b, c) is the coordinate of point F, (x D ,y D ) is the coordinate of point D, FG = d, CE = e, EG = f, ED = h, GD = hf = g, ∠CED = β, t is the total time for point D to move once, a max is the maximum value of a, m is the distance that point C moves each driving segment, Δt is the time that point C moves each driving segment, V d1 is the average velocity of point D in the first swing segment, V dn is the average velocity of point D in the nth swing segment, V d is the total average velocity at point D, V cn is the average speed of point C in the nth driving segment, point J is the intersection of FG and the y-axis, Dx n+1 、Dy n+1When point C is at (0, 0.1n), according to the known d, e, f, h, substitute into formula (8), and obtain point D and record it as D n+1 (Dx n+1 ,Dy n+1 ); n is an integer ≥ 0.

[0026] As a further solution of the present invention: the β is 135°.

[0027] As a further solution of the present invention: the β is an obtuse angle.

[0028] As a further solution of the present invention: the coordinates of point F are (-b, c), the coordinates of point C are (0, a), and the maximum value of a is a max , where b>0, c>a max .

[0029] As a further solution of the present invention: point F is a fixed point, FG swings around point F, β is a fixed angle, and point G is on ED.

[0030] As a further solution of the present invention: the screw seat control step is: point C is at the average speed V of the current driving segment cn Move along the Y axis;

[0031] The screw seat control step also includes:

[0032] Determine the speed change step: when (0, a p )∈T1, the detection head coordinate acquisition step is executed again to reset the current coordinates of the point C and the current coordinates of the point D, and then the screw seat speed acquisition step is executed again to reset the average speed V of the current driving segment of the point C cn , the main control unit sends a speed change signal to the drive mechanism; where a p is the current ordinate of point C, T1 is an integer multiple of m;

[0033] Cyclic speed change step: the driving mechanism drives point C to its reset average speed V according to the speed change signal cn Moves along the Y axis.

[0034] The present invention also provides another solution: a swing device manufactured according to any one of the aforementioned swing arm structure motion control methods, the swing device comprising:

[0035] A swing arm lever, the swing arm lever comprising a short swing arm and a long swing arm at a fixed angle;

[0036] A connecting rod, one end of which is hinged to the long swing arm, and the other end of which is hinged to the side wall of the swing device;

[0037] Transmission components; and

[0038] The driving mechanism drives the transmission assembly to drive the end of the short swing arm away from the long swing arm to move in a straight line direction;

[0039] Among them, the hinge point where the connecting rod is hinged to the swing device is point F, the intersection of the short swing arm and the long swing arm is point E, the intersection of the connecting rod and the long swing arm is point G, and the end of the long swing arm away from the short swing arm is point D.

[0040] As a further solution of the present invention: the driving mechanism is a motor, the transmission assembly includes a guide rail, a lead screw and a lead screw seat, the lead screw seat is movably arranged on the guide rail, the lead screw is threadedly connected to the lead screw seat, the motor is transmission-connected to the lead screw, and one end of the short swing arm away from the long swing arm is hinged to the lead screw seat;

[0041] Among them, the direction in which the screw seat slides upward along the guide rail is the positive direction of the Y axis, the bottom end of the screw seat sliding downward along the guide rail is the origin of the coordinate system, and the screw seat is point C.

[0042] Beneficial effects of the present invention:

[0043] The detection head is used as an empty container detection device to check the container. The average speed V of the current driving segment of the screw seat is obtained by this method. cn and make the screw seat have the average speed V of its current driving segment cn Move along a predetermined trajectory to drive the detection head to swing, thereby driving the detection head to approach the container;

[0044] In addition, the movement stroke a of the screw seat is divided into steps by averaging the trajectory. max Theoretically, as long as the value of M is large enough, the motion trajectory of the screw seat a max If the detection head is divided sufficiently evenly, the speed of the detection head can be closer to a uniform speed during the movement, thereby optimizing the swing effect of the detection head and allowing the detection head to approach the container at a uniform and smooth speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 It is a schematic diagram of the structure of the detection head of the present invention.

[0047] Figure 3 for Figure 2 A structural decomposition diagram of .

[0048] Figure 4 for Figure 2 Another structural decomposition diagram of .

[0049] Figure 5 It is a schematic diagram of the structural decomposition of the base on the main body of the present invention.

[0050] Figure 6 for Figure 5 Schematic diagram of the structure from another perspective.

[0051] Figure 7 for Figure 6 Schematic diagram of the main structure.

[0052] Figure 8 It is a schematic diagram of the structure of the motor and the lead screw of the present invention.

[0053] Fig. 9 It is a schematic diagram of the structural decomposition of the lower base of the main body of the present invention.

[0054] Fig.10 This is a schematic diagram of the plane rectangular coordinate system described in this scheme.

[0055] Fig.11 It is a schematic diagram of the motion trajectory when the long swing arm of the present invention drives the detection head to swing down.

[0056] Fig.12 It is a schematic diagram of the motion trajectory of the detection head after the long swing arm of the present invention drives it to swing completely downward.

[0057] Fig.13 It is a communication connection schematic diagram of the present invention.

[0058] Fig.14 It is the work flow chart of the present invention.

[0059] Fig.15 for Fig.10 A schematic diagram after adding auxiliary dotted lines.

[0060] Fig.16 for Fig.10 Another schematic diagram after adding auxiliary dotted lines.

[0061] Reference numerals include:

[0062] 1—Detection head,

[0063] 11 - laser radar, 12 - shooting device, 13 - ultrasonic control board, 14 - ultrasonic detection head, 15 - diffuse reflection photoelectric switch, 16 - first light board, 17 - probe adapter board,

[0064] 121 - first camera, 122 - second camera,

[0065] 101—left mounting tube, 102—middle mounting tube, 103—right mounting tube, 104—left camera bracket, 105—right camera bracket, 106—silicone pad, 107—circuit board bracket, 108—wiring port shield, 109—waterproof rubber pad, 1010—O-ring, 1011—circuit board mounting plate, 1012—diffuse reflection front baffle, 1013—end cover, 1014—radar mounting plate;

[0066] 2—Swing control device,

[0067] 21 - motor, 22 - transmission assembly, 23 - connecting rod, 24 - short swing arm, 25 - long swing arm,

[0068] 221 - guide rail, 222 - lead screw, 223 - lead screw seat,

[0069] 20—main body upper base,

[0070] 201—left sealing plate, 202—edge switch, 203—dust-proof brush, 204—mounting bracket, 205—middle sealing plate, 206—right sealing plate, 207—motor guard plate, 208—top guard, 209—second lamp board, 2010—upper mounting seat, 2011—lower mounting seat, 2012—bearing seat, 2013—bearing seat, 2014—connecting rod seat, 2015—synchronous wheel set, 2016—upper limit seat, 2017—lower limit seat, 2018—shock-absorbing rubber block, 2019—travel switch, 2020—motor synchronous wheel, 2021—synchronous wheel pressure plate;

[0071] 30—main body lower base,

[0072] 301—front shield of base, 302—rear shield of base, 303—control circuit layer board, 304—lower body shield, 305—third camera, 306—power amplifier, 307—second ultrasonic detection head, 308—small door of operation box, 309—rebound magnetic attraction part, 3010—button switch, 3011—front cover of lower body, 3012—light curtain. DETAILED DESCRIPTION

[0073] The present invention is described in detail below with reference to the accompanying drawings.

[0074] like Figures 1 to 14 As shown, in an embodiment of the present invention, a container information collection device is provided, comprising a detection head 1 and a swing control device 2 for driving the detection head 1 to move, wherein the swing control device 2 is provided with a main control board and a main control terminal electrically connected to each other; wherein,

[0075] The detection head 1 is provided with a laser radar 11, a camera 12, an ultrasonic detection head 14, an ultrasonic control board 13, a diffuse reflection photoelectric switch 15, a first light board 16 and a probe adapter board 17. The first light board 16 is provided with an indicator light. The laser radar 11 and the camera 12 are used to collect images, orientations and other data inside the container. The ultrasonic detection head 14 is electrically connected to the ultrasonic control board 13 to detect obstacles and prevent collision damage caused by the swing control device 2 in the process of driving the detection head 1 to move;

[0076] The ultrasonic control board 13, the diffuse reflection photoelectric switch 15 and the first light board 16 are electrically connected to the probe adapter board 17 respectively, and the probe adapter board 17 is electrically connected to the main control board. The function of the probe adapter board 17 is to simplify the line connection to facilitate wiring and routing; the laser radar 11 includes a radar probe and a radar control box. The radar probe is arranged in the radar control box. On the one hand, the radar control box is connected to the main control terminal through a switch, and on the other hand, the radar information obtained by the radar probe is sent to the platform through the switch; the shooting device 12 includes a first camera 121 and a second camera 122 respectively electrically connected to the main control terminal. Two cameras are used to increase the monitorable angle and space, wherein the first camera 121 and the second camera 122 are installed tilted toward the middle, and the wide angle of the camera is used to achieve coverage of the detection area;

[0077] The number of ultrasonic detection heads 14 is preferably 4. Since the upper limit of the ultrasonic control board 13 is that only 4 ultrasonic detection heads 14 can be set, in order to ensure that detection can be formed in more directional viewing angles, a diffuse reflection photoelectric switch 15 is used to detect obstacles. In addition, when the ultrasonic detection head 14 is set on the outer wall of the detection shell, there will be a bulge, while the diffuse reflection photoelectric switch 15 will not form a bulge. Therefore, the diffuse reflection photoelectric switch 15 and the laser radar 11 are distributed in the same direction and arranged on the detection shell to avoid easy collision with container vehicles or other obstacles due to the bulge;

[0078] The swing control device 2 is also provided with a motor 21, a guide rail 221, a screw 222, a screw seat 223, a connecting rod 23, and a short swing arm 24 and a long swing arm 25 at a fixed angle. The screw seat 223 is movably arranged on the guide rail 221, the screw 222 is threadedly connected to the screw seat 223, the motor 21 and the screw 222 are connected through a synchronous wheel and a synchronous belt transmission, and the motor 21 is electrically connected to the main control board through the motor 21 driver; one end of the short swing arm 24 away from the long swing arm 25 is hinged to the screw seat 223, and the detection head 1 is arranged at the end of the long swing arm 25 away from the short swing arm 24; one end of the connecting rod 23 is hinged to the long swing arm 25, and the other end of the connecting rod 23 is hinged to the swing control device 2.

[0079] The technical solution of the present invention is as follows: on the one hand, by arranging a laser radar 11 on the detection head 1, the laser radar 11 is used to transmit a detection signal to the inside of the container vehicle to obtain an image, thereby determining whether the inside of the container is empty; at the same time, a shooting device 12 is arranged as an auxiliary means to facilitate real-time monitoring, thereby more intuitively checking whether the inside of the container is completely unloaded;

[0080] On the other hand, by setting a swing control device 2 to accommodate the detection head 1 and drive the detection head 1 close to the container, in detail, the motor 21 drives the transmission assembly 22, specifically the motor 21 drives the lead screw 222 to rotate, so that the lead screw 222 drives the lead screw seat 223 to slide up and down along the guide rail 221; and when the lead screw seat 223 slides upward, it will drive the long swing arm 25 to swing downward, so that the detection head 1 at the end of the long swing arm 25 swings out and close to the container; when the lead screw seat 223 slides downward, it will drive the long swing arm 25 to swing upward to accommodate the detection head 1, avoiding occupying the lane space and affecting the vehicle driving. The high degree of automation is conducive to checking whether the container is completely unloaded, and effectively improves the inspection efficiency.

[0081] When working, the swing control device 2 is set on the roadside or next to the safety island. When the container vehicle enters, the motor 21 drives the screw 222 to rotate, so that the screw 222 drives the screw seat 223 to slide up and down along the guide rail 221; and when the screw seat 223 slides upward, it will drive the long swing arm 25 to be perpendicular to the direction of movement of the container vehicle and swing downward, so that the detection head 1 at the end of the long swing arm 25 swings out and approaches the container. An inspection port can be opened just above the container near the front of the vehicle to allow the detection head 1 to approach and inspect the inside of the container through the ultrasonic detection head 14 and the camera 12, so that the door does not need to be fully opened during the inspection; after the inspection is completed, when the motor 21 drives the screw seat 223 to slide downward, the long swing arm 25 swings upward to accommodate the detection head 1 to avoid occupying the lane space and affecting the vehicle's driving. For more detailed work flow, please refer to Fig.14 .

[0082] refer to Fig.13 The main communications on the container information collection device include 232 serial communication, TTL serial communication, network communication, USB communication and IO signal. Specifically: 232 serial communication is used for: main control terminal and main control board, main control board and probe adapter board 17, main control board and motor 21 driver; TTL serial communication is used for: ultrasonic control board 13 and probe adapter board 17, ultrasonic control board 13 and main control board; network communication is used for: main control terminal and radar control box, main control terminal and platform; USB communication is used for: main control terminal and shooting device 12; IO signal is used for: probe adapter board 17 and diffuse reflection photoelectric switch 15.

[0083] In some embodiments, a fixed angle formed between the short swing arm 24 and the long swing arm 25 is β, and β is an obtuse angle.

[0084] In some embodiments, the fixed angle formed between the short swing arm 24 and the long swing arm 25 is β, β=135°.

[0085] In some embodiments, a plane rectangular coordinate system is established based on the direction in which the screw seat 223 slides upward along the guide rail 221 as the positive direction of the Y axis, the hinge point at which the connecting rod 23 is hinged to the swing control device 2 is point F, the coordinates of point F are (-b, c), the coordinate point of the screw seat 223 is point C, the coordinates of point C are (0, a), and the maximum value of a is a max , where b>0, c>a max Specifically, Fig.10 The figure shows the plane rectangular coordinate system of the present invention, wherein point F is the hinge point where the connecting rod 23 is hinged to the swing control device 2, point C is the screw seat 223 and slides up and down along the positive direction of the Y axis, CE is the short swing arm 24, ED is the long swing arm 25, FG is the connecting rod 23, and ∠CED is the fixed angle β formed between the short swing arm 24 and the long swing arm 25. The coordinates of point F are (-b, c), and the coordinates of point C are (0, a). It can be seen that point C (0, a) is at point A (0, 0) and point B (0, a max ) to make a reciprocating motion, a is a variable, so the maximum value of a is recorded as a max , where b>0 and c>a max , preferably b = 20mm. In detail, the inventors have found that when b = 0, that is, when point F is on the Y axis, the motor 21 needs to overcome a large resistance force when driving point C, that is, the screw seat 223 to slide, in order to push the short swing arm 24 and the long swing arm 25 apart and swing out, which will affect the swing effect. Therefore, point F is set on one side of the guide rail 221 to avoid point F in the length direction of the motion trajectory of point C. When point F (-b, c) and b>0, it is more effective to reduce the resistance force encountered when the motor 21 is driven.

[0086] The device transmits a detection signal (laser beam) into the interior of the container vehicle through a laser radar 111, compares the received signal reflected from the target (target echo) with the transmitted signal, and forms an image after appropriate processing. At the same time, a camera 2 is used as an auxiliary means to realize automatic detection of container vehicle unpacking. The device is equipped with an ultrasonic detection head 143 and a diffuse reflection photoelectric 4, which are used to detect obstacles and prevent collision damage during the detection process of the device.

[0087] like Figures 2 to 4As shown, the left end of the detection head 1 is a left mounting tube 101, on which a left camera bracket 104 is mounted, and a first camera 121 is mounted on the left camera bracket 104. The middle section of the detection head 1 is a middle mounting tube 102, which is fixedly connected to the left mounting tube 101 by screws, and a silicone pad 106 is pressed in the middle for waterproofing. A laser radar 11 is mounted in the middle mounting tube 102, and one end of the laser radar 11 is limited by one end face of the cylinder body, and the other end is fixed to the other end face of the cylinder body of the middle mounting tube 102 by a radar mounting plate 1014. A circuit board bracket 107 is fixed to the left end face of the laser radar 11, and a probe adapter plate 17 is mounted on the circuit board bracket 107. At the position where the laser radar 11 appears, a wiring port shield 108 is installed to avoid the outlet line. The wiring port shield 108 is fixed to the left mounting tube 101 on one side and to the middle mounting tube 102 on the other side, and a waterproof rubber pad 109 is used in the middle for waterproofing. The right end of the middle installation tube 102 is connected to the right installation tube 103, and the middle pressure O-ring 1010 is waterproof. The ultrasonic detection head 14 is installed on the wall of the right installation tube 103 to sense the ultrasonic model and prevent the equipment from colliding with obstacles during movement. A circuit board mounting plate 1011 is installed on the right inner wall of the right installation tube 103, and an ultrasonic control board 13 is installed on the circuit board mounting plate 1011. Since the ultrasonic signal control board can only control the signals of 4 ultrasonic detection heads 14, the front end of the right installation tube 103 is replaced by diffuse reflection photoelectric, which is installed on the right inner wall of the right installation tube 103. The detection surface of the diffuse reflection photoelectric is installed with a diffuse reflection front baffle 1012, which is bonded to the front end wall of the right installation tube 103 and is made of dark brown translucent material, which is waterproof and light-transmissive while preventing external strong light from interfering with the diffuse reflection signal. The right camera bracket 105 is installed on the right inner wall of the right mounting tube 103, on which the second camera 122 is installed. The first camera 121 and the second camera 122 installed on the left mounting tube 101 and the right mounting tube 103 are installed tilted toward the middle, and the wide angle of the camera is used to achieve coverage of the detection area. The first light board 16 is installed on the right end face of the right mounting tube 103, which can flash light of different colors to convey the status of the device to the outside world. The first light board 16 is wrapped with an end cover 1013, and the end cover 1013 is fixed to the right side of the right mounting tube 103, and a silicone pad 106 is pressed in the middle for waterproofing. The end cover 1013 is made of milky white acrylic, which is conducive to light transmission. The probe adapter plate 17 is used to transfer the signals of the first light board 16, the ultrasonic detection head 14 and the diffuse reflection photoelectric, and transmit them to the platform after aggregation.

[0088] This device is used to detect whether a container is empty. The motor 21 drives the transmission assembly 22 to extend the swing arm (i.e., the short swing arm 24 and the long swing arm 25). The detection device on the swing arm detects and collects data inside the container body. The problem of low efficiency of manual on-site detection is solved, the detection results are fair and open, and dark box operation is eliminated. The transmission assembly 22 preferably includes a guide rail 221, a lead screw 222, and a lead screw seat 223.

[0089] like Figures 5 to 9 As shown, the swing control device 2 of the whole equipment is divided into the upper main body base 20 of the upper section and the lower main body base 30 of the lower section, and the upper main body base 20 and the lower main body base 30 are connected by screws. The upper main body base 20 can be processed by profile channel steel. The left sealing plate 201 is installed on the left side of the upper main body base 20. The left sealing plate 201 is equipped with a long strip edge switch 202 for preventing pinching when the transmission component 22 moves and retracts. The left sealing plate 201 is installed with a dustproof brush 203, which is used to prevent dust from entering the interior of the equipment when the transmission component 22 moves. A set of mounting brackets 204 are installed on the upper main body base 20, and the middle sealing plate 205 is installed on the mounting bracket 204. The right sealing plate 206 is installed on the right side of the upper main body base 20, and the right sealing plate 206 is also equipped with an edge switch 202 for preventing pinching. The transmission component 22 is installed in the middle of the upper main body base 20, and the front end of the transmission component 22 is equipped with a detection head 1. The transmission component 22 controls the movement of the detection head 1 to complete the detection task. The motor guard plate 207 is installed at the lower end of the left sealing plate 201 and the right sealing plate 206 to protect the motor 21 of the drive transmission assembly 22. The left sealing plate 201, the middle sealing plate 205, the right sealing plate 206 and the motor guard plate 207 are easy to disassemble and assemble, which is conducive to maintenance and repair. The top of the main body upper base 20 is installed with a top shield 208, and the second light board 209 is installed on both sides of the top shield 208. The second light board 209 can radiate light and transmit equipment status signals.

[0090] The exercise process is as follows:

[0091] A lower mounting seat 2011 is mounted on the main body upper base 20, and a bearing seat 2012 is mounted on the lower mounting seat 2011. The upper mounting seat 2010 is mounted on the upper end of the main body upper base 20, and a bearing seat 2013 is mounted on the upper mounting seat 2010. A lead screw 222 is hinged between the bearing seat 2012 and the bearing seat 2013. A lead screw seat 223 is mounted on the lead screw 222 and can move up and down along the lead screw 222. A guide rail 221 is mounted on the main body upper base 20, and a slider of the guide rail 221 is docked with the lead screw seat 223 to guide the lead screw seat 223. A motor 21 is mounted on the lower mounting seat 2011, and the motor 21 drives the synchronous wheel set 2015 at the lower end to drive the lead screw 222 to rotate. A short swing arm 24 is hinged at one end of the lead screw seat 223, and the short swing arm 24 is fixedly connected to the long swing arm 25. A connecting rod seat 2014 is installed on the main body upper base 20, one end of the connecting rod 23 is hinged to the connecting rod seat 2014, and the other end is hinged to the long swing arm 25. The complete process is that the motor 21 drives the synchronous wheel set 2015 to drive the screw 222 to rotate, the screw seat 223 rises or falls under the drive of the screw 222 and the guidance of the guide rail 221, and the short swing arm 24 and the long swing arm 25 swing out or retract under the action of the screw seat 223 and the connecting rod 23. An upper limit seat 2016 and a lower limit seat 2017 are installed on the main body upper base 20, and a shock-absorbing rubber block 2018 is installed on the upper limit seat 2016 and the lower limit seat 2017 as a physical limit for the up and down movement of the screw seat 223. A travel switch 2019 is installed on the main body upper base 20 to detect the movement signal of the screw seat 223.

[0092] A motor synchronous wheel 2020 is installed at the lower end of the motor 21, and a synchronous wheel pressure plate 2021 is installed at the lower end of the motor synchronous wheel 2020. The synchronous wheel pressure plate 2021 and the motor synchronous wheel 2020 are fixed to the motor 21 shaft by screws in the middle. The outer part of the screw hole is designed to be hexagonal. When the power is off, the synchronous wheel set 2015 can be driven by a ratchet socket wrench to retract the long swing arm 25 without affecting the normal use of the lane.

[0093] The detection head 1 includes a laser radar 11, a first camera 121 and a second camera 122, which are used to collect images, directions and other data inside the container. The ultrasonic detection head 14 and diffuse reflection photoelectric installed on the detection head 1 are used to detect obstacles when the equipment is in operation to protect the detection head 1 from collision.

[0094] The upper base 20 of the main body is connected with the lower base 30 of the main body by screws. The bottom of the lower base 30 of the main body is installed with a front base shield 301 and a rear base shield 302. The lower base 30 of the main body is equipped with a control circuit layer board 303 inside, which is used to control the operation of the circuit system of the device. The main control board and the main control terminal are set on the control circuit layer board 303. The lower main body shield 304 is installed at the front end of the lower base 30 of the main body. The third camera 305 is installed on the lower main body shield 304 for detecting the image signal of the vehicle at the front end of the device. The power amplifier 306 is installed on the lower main body shield 304 for the voice playback of the device. The second ultrasonic detection head 307 is installed at the front end and both sides of the lower main body shield 304 to detect whether there is anyone entering the surrounding area by mistake when the device is running to avoid danger. An operation box door 308 is installed on the right side of the lower main body shield 304. The upper end of the operation box door 308 is hinged with the lower main body shield 304, and the lower end cooperates with the rebound magnetic suction piece 309 installed on the lower main body shield 304. When closed, the operation box door 308 flips down and fits with the rebound magnetic suction piece 309. By pressing, it is flush with the outer end surface of the right side of the lower main body shield 304. Pressing again, the rebound magnetic suction piece 309 pops outward for a short distance, driving the operation box door 308 to flip outward, which can be easily opened by hand. The structure is simple and exquisite. When needed, the operation box door 308 can be opened, and the key switch 3010 installed on the lower main body shield 304 can be operated to manually operate the equipment. A lower main body front cover 3011 is installed at the front end of the lower main body shield 304, and a light curtain 3012 is installed on the lower main body front cover 3011 to detect the arrival of the vehicle.

[0095] The present invention also provides another solution, a swing control device 2, comprising:

[0096] A swing arm, the swing arm comprising a short swing arm 24 and a long swing arm 25 at a fixed angle;

[0097] A connecting rod 23, one end of which is hinged to the long swing arm 25, and the other end of which is hinged to the side wall of the swing control device 2;

[0098] Transmission assembly 22; and

[0099] The driving mechanism drives the transmission assembly 22 to drive the end of the short swing arm 24 away from the long swing arm 25 to move in a straight line direction.

[0100] By setting a swing control device 2 to drive inspection equipment such as a camera to approach the container, it is convenient to check the internal information of the container. In detail, the inspection equipment is placed at the end of the long swing arm 25 away from the short swing arm 24, and the driving mechanism drives the transmission component 22 to drive the end of the short swing arm 24 away from the long swing arm 25 to move in a straight line direction; and when the end of the short swing arm 24 away from the long swing arm 25 slides upward, the long swing arm 25 will be driven to swing downward, so that the inspection equipment at the end of the long swing arm 25 is swung out and close to the container; when the end of the short swing arm 24 away from the long swing arm 25 slides downward, the long swing arm 25 will be driven to swing upward to store the inspection equipment to avoid occupying the lane space and affecting the vehicle driving. The high degree of automation is conducive to driving the inspection equipment close to the container to check whether the container is completely unloaded, effectively improving the inspection efficiency.

[0101] In some embodiments, the driving mechanism is a motor 21, and the transmission assembly 22 includes a guide rail 221, a screw 222 and a screw seat 223. The screw seat 223 is movably arranged on the guide rail 221, and the screw 222 is threadedly connected to the screw seat 223. The motor 21 is transmission-connected to the screw 222, and one end of the short swing arm 24 away from the long swing arm 25 is hinged to the screw seat 223.

[0102] In some embodiments, the driving mechanism is a hydraulic cylinder or a pneumatic cylinder, the transmission assembly 22 includes a linear slide rail and a slider, the end of the short swing arm 24 away from the long swing arm 25 is hinged to the slider, and the hydraulic cylinder or pneumatic cylinder drives the slider to move along the linear slide rail.

[0103] In some embodiments, the motor 21 is connected to the lead screw 222 via a belt drive or a gear drive.

[0104] The present invention also provides another solution, a swing arm structure motion control method, the control method comprising:

[0105] Trajectory averaging step: the movement stroke a of the screw seat 223 max Divided equally into M driving segments;

[0106] Time calculation steps: the total movement time t of the detection head 1 is divided by M to obtain the average time Δt used for each swing segment;

[0107] Functional relationship acquisition step: obtaining the functional relationship corresponding to the geometric structure between the detection head 1 and the screw seat 223;

[0108] Detection head coordinate acquisition step: Substitute the current coordinate of the screw seat 223 into the functional relationship to obtain the corresponding current coordinate of the detection head 1; similarly obtain the coordinates of the two nodes corresponding to the current swing segment of the detection head 1, and then calculate the distance between the two nodes;

[0109] Steps for obtaining the detection head speed: Divide the distance by Δt to obtain the average speed V of the current swing segment of the detection head 1 dn Similarly, the average speed of all swing segments is obtained and accumulated, and then the accumulated value is divided by M to obtain the average speed V of the total movement stroke of the detection head 1 d ;

[0110] Screw seat speed acquisition steps: Calculate the speed ratio of detection head 1 Then calculate the average speed of the screw seat 223 The average speed of the screw seat 223 is divided by the speed ratio of the detection head 1 to obtain the average speed V of the current driving segment of the screw seat 223. cn ;

[0111] Screw seat control step: The screw seat 223 drives the average speed V of its current driving segment cn Move along a predetermined trajectory to drive the detection head 1 to swing.

[0112] The detection head is used as an empty container detection device to check the container. The average speed V of the current driving segment of the screw seat is obtained by this method. cn and make the screw seat have the average speed V of its current driving segment cn Move along a predetermined trajectory to drive the detection head to swing, thereby driving the detection head to approach the container;

[0113] In addition, the movement stroke a of the screw seat is divided into steps by averaging the trajectory. max Theoretically, as long as the value of M is large enough, the motion trajectory of the screw seat a max If the detection head is divided sufficiently evenly, the speed of the detection head can be closer to a uniform speed during the movement, thereby optimizing the swing effect of the detection head and allowing the detection head to approach the container at a uniform and smooth speed.

[0114] In some embodiments, the screw seat control step further includes: the main control unit controls the drive mechanism to move, so that the drive mechanism drives the screw seat 223 at the average speed V of the current drive segment. cn The lead screw seat 223 moves along the guide rail 221 , and during the movement, the short swing arm 24 and the long swing arm 25 are driven to swing, so that the detection head 1 on the long swing arm 25 swings.

[0115] In some embodiments, Fig.10 , 15 As shown in 16, the trajectory averaging step also includes:

[0116] Initialization steps: establish a plane rectangular coordinate system with the direction in which the screw seat 223 slides upward along the guide rail 221 as the positive direction of the Y axis and the bottom end of the screw seat 223 sliding downward along the guide rail 221 as the origin, wherein the corresponding point C of the screw seat 223 moves on the Y axis of the coordinate system, the coordinates of point C are 0, a, and the coordinates of point F are -b, c; input parameters b, c, e, h, f and β.

[0117] In some embodiments, the trajectory averaging step further includes: recording the coordinates of the corresponding point D of the detection head 1 every time point C moves upward by m unit distances, where a is the ordinate of point C, a max is the maximum value of a;

[0118] The functional relationship acquisition step further includes: the functional relationship is obtained using formulas (1) to (8);

[0119] The detection head speed acquisition step also includes: the average speed V of the current swing segment of the detection head 1 dn The average speed V of the total movement stroke of the detection head 1 is obtained by using formula (11): d Use formulas (10) to (12) to find out;

[0120] The step of obtaining the speed of the screw seat also includes: the average speed V of the current driving segment of the screw seat 223 cn Use formulas (9) to (13) to find out;

[0121]

[0122] θ=∠FCJ+90°=∠FCG+∠GCD(7)

[0123]

[0124] In the formula, a is the ordinate of point C, (-b, c) is the coordinate of point F, (x D ,y D ) is the coordinate of point D, FG = d, CE = e, EG = f, ED = h, GD = hf = g, ∠CED = β, t is the total time for point D to move once, a max is the maximum value of a, m is the distance that point C moves each driving segment, Δt is the time that point C moves each driving segment, V d1 is the average velocity of point D in the first swing segment, V dn is the average velocity of point D in the nth swing segment, V d is the total average speed of point D, Vcn is the average speed of point C in the nth driving segment, point J is the intersection of FG and the y axis, Dx n+1 、Dy n+1When point C is at (0, 0.1n), according to the known d, e, f, h, substitute into formula (8), and obtain point D and record it as D n+1 (Dx n+1 ,Dy n+1 ); n is an integer ≥ 0.

[0125] Set the empty box detection device at point D, detect the distance between the current coordinates of point C and the origin, and then substitute it into the formula to calculate the average speed V of the current segment of point C cn , and then the average speed V of the current segment cn is sent to the main control unit, so that the main control unit can calculate the average speed V of the current segment according to the average speed V cn The drive mechanism is controlled to output the corresponding drive speed, thereby driving point C to move along the Y-axis direction, driving ED to swing, and making the empty container detection device at point D close to the container. Among them, the average speed V of the current segment of point C is obtained by the formula algorithm. cn The driving mechanism drives point C at the average speed V cn Move along the Y-axis to make ED swing. Theoretically, as long as the value of M is large enough, the motion trajectory of point C is a max If the distribution is sufficient, the speed of point D during the movement can be closer to a uniform speed, thereby optimizing the swing effect of ED and allowing the detection head 1 at point D to approach the container at a uniform and smooth speed.

[0126] In some embodiments, ∠CED=β=135°.

[0127] In some embodiments, the β is an obtuse angle.

[0128] In some embodiments, the coordinates of point F are (-b, c), the coordinates of point C are (0, a), and the maximum value of a is a max , where b>0, c>a max Specifically, Fig.10 , 15 As shown in Figure 16, it can be seen that point C (0, a) is between point A (0, 0) and point B (0, a max ) to make a reciprocating motion, a is a variable, so the maximum value of a is recorded as a max , where b>0 and c>a max , preferably b = 20mm. In detail, the inventors have found that when b = 0, that is, when point F is on the Y axis, since point F is a fixed point, when the driving mechanism drives point C to move along the Y axis, it needs to overcome a large resistance force to push CE and ED apart and swing out, which will affect the swing effect. Therefore, point F is set on one side of the Y axis to avoid point F being in the length direction of the motion trajectory of point C. When point F (-b, c) and b>0, it is more effective to reduce the resistance force encountered by the driving mechanism when driving point C to move.

[0129] In some embodiments, point F is a fixed point, FG swings around point F, ∠CED=β is a fixed angle, and point G is on ED.

[0130] In some embodiments, the screw seat control step is replaced by: point C is at the average speed V of the current drive segment cn Move along the Y axis;

[0131] The screw seat control step also includes:

[0132] Determine the speed change step: when (0, a p )∈T1, the detection head coordinate acquisition step is executed again to reset the current coordinates of the point C and the current coordinates of the point D, and then the screw seat speed acquisition step is executed again to reset the average speed V of the current driving segment of the point C cn , the main control unit sends a speed change signal to the drive mechanism; where a p is the current ordinate of point C, T1 is an integer multiple of m;

[0133] Cyclic speed change step: the driving mechanism drives point C to its reset average speed V according to the speed change signal cn Moves along the Y axis.

[0134] The present invention also provides another solution, such as Figures 1 to 16 As shown, in another embodiment, a swing device manufactured according to any of the above-mentioned swing arm structure motion control methods comprises:

[0135] A swing arm, the swing arm comprising a short swing arm 24 and a long swing arm 25 at a fixed angle;

[0136] A connecting rod 23, one end of which is hinged to the long swing arm 25, and the other end of which is hinged to the side wall of the swing device 2;

[0137] Transmission assembly 22; and

[0138] The driving mechanism drives the transmission assembly 22 to drive the end of the short swing arm 24 away from the long swing arm 25 to move in a straight line direction;

[0139] Among them, the hinge point where the connecting rod 23 is hinged to the swing device 2 is point F, the intersection of the short swing arm 24 and the long swing arm 25 is point E, the intersection of the connecting rod 23 and the long swing arm 25 is point G, and the end of the long swing arm 25 away from the short swing arm 24 is point D.

[0140] In some embodiments, the driving mechanism is a motor 21, and the transmission assembly 22 includes a guide rail 221, a lead screw 222 and a lead screw seat 223. The lead screw seat 223 is movably arranged on the guide rail 221, and the lead screw 222 is threadedly connected to the lead screw seat 223. The motor 21 is in transmission connection with the lead screw 222, and one end of the short swing arm 24 away from the long swing arm 25 is hinged to the lead screw seat 223.

[0141] The direction in which the screw seat 223 slides upward along the guide rail 221 is the positive direction of the Y axis, the bottom end of the screw seat 223 sliding downward along the guide rail 221 is the origin of the coordinate system, and the screw seat 223 is point C.

[0142] In some embodiments, the β is a fixed angle formed between the short swing arm 24 and the long swing arm 25 .

[0143] Formula derivation process:

[0144] like Fig.10 , 15 As shown in 16, it can be seen that FG = d, CE = e, EG = f, ED = h, GD = hf = g, ∠CED = β = 135°;

[0145] 1) In Fig.10 Add auxiliary lines CG and CD, and you can see Fig.15 .

[0146] According to the law of cosines, the lengths of CG and CD can be calculated:

[0147]

[0148] With point C as the center and CD as the radius, make a circle, referred to as circle C. Fig.15 ;

[0149] 2) Since the coordinates of the center point C are (0, a), assuming a is a constant, the parametric equation of circle C is as follows:

[0150]

[0151] Assume that the coordinates of point D are (x D ,y D ).

[0152] Since point D is on circle C,

[0153] 3) By Fig.16 It can be seen that θ = ∠FCJ + 90° = ∠FCG + ∠GCD (7)

[0154] According to the Pythagorean theorem, ∠FCJ and CF can be obtained

[0155]

[0156]

[0157] According to the law of cosines, ∠FCG and ∠GCD can be obtained

[0158]

[0159] Therefore, the position of point D can be calculated based on the position of point C:

[0160] Step 1: Calculate two auxiliary lengths (CG and CD) according to equations (1) and (2) based on the length of the swing arm, the bending angle, and the position of the fulcrum on the swing arm;

[0161] Step 2: Substitute the current position of point C into equations (6), (7), (8), and (9) to calculate the angle and length required for the current position of point C;

[0162] Step 3: Use the angle calculated in step 2 to find the current inclination angle (θ) of line CD;

[0163] Step 4: Substitute the tilt angle into (4) to obtain the position of point D corresponding to the current position of point C.

[0164] The above is the method for finding point D based on point C.

[0165] Specific implementation example: According to the equipment conditions, the movement range of point C is 0~1170mm(a max =1170), FG=844mm, CE=215mm, EG=522.4mm, ED=2237.2mm, GD=1714.8mm;

[0166] Assume that the coordinates of point D are recorded every time point C moves upward by 0.1 mm (m = 0.1). When point C is at (0, 0), the known d, e, f, h are substituted into formula (8), and the obtained point D is recorded as D1 (Dx1, Dy1); when point C is at (0, 0.1), the known d, e, f, h are substituted into formula (8), and the obtained point D is recorded as D2 (Dx2, Dy2). This is deduced until point C moves to (0, 1170). Substituting the known d, e, f, h into formula (8), a total of 11701 points of point D are obtained (the specific points can be referred to the Excel table).

[0167] Since the distance from D1 to D2 is:

[0168] So D n To D n+1 The distance is:

[0169] Assume that it takes 3 seconds for a device to turn on or off (t=3). Divide 3 seconds into 11700 parts (M=1700), and each part takes approximately

[0170] So the velocity of point D in the first segment is

[0171] The velocity of the nth segment point D is:

[0172] The average speed of 11700 points D is

[0173]

[0174] So the velocity of point C in the first segment is:

[0175] According to equation (15), the velocity of the nth segment point C can be obtained as:

[0176] Formula (13) principle: By finding The average velocity V of point D in the nth segment is obtained dn The total average velocity V at point D d The speed change between the two points, and then the total average speed through point C Divide by the speed change The actual velocity V of point C is obtained cn Detailed embodiment, when V dn is 0.8, while V d is 1, then the change is 0.8, and the actual speed V at point C cn for V cn＝0.48828125 mm / ms, that is, due to the average velocity V of point D in n segments dn Less than the actual speed V d , so through Increase the average speed of point C in n segments to V cn , so that the average velocity V of point D in the n segments dn Close to or even equal to the total average velocity V at point D d , that is, to achieve V dn Get complement with V d Similarly, when the average velocity V of point D in segment n is dn Greater than the actual speed V d When V dn gets reduced with V d The difference between them can be close to or even equal to V d .

[0177] In summary, it can be seen that the present invention has the above-mentioned excellent characteristics, which can enhance the performance unprecedented in the prior art and become a product with great practical value.

[0178] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A swing arm structure motion control method, characterized in that: The control method comprises: Trajectory averaging step: The movement stroke of the screw seat (223) Divided equally into M driving segments; Time calculation steps: The total movement time t of the detection head (1) is divided by M to obtain the average time used for each swing segment. ; Functional relationship acquisition step: obtaining a functional relationship corresponding to the geometric structure between the detection head (1) and the screw seat (223); The detection head coordinate acquisition step: substituting the current coordinate of the screw seat (223) into the functional relationship to obtain the corresponding current coordinate of the detection head (1); similarly obtaining the coordinates of two nodes corresponding to the current swing segment of the detection head (1), and then calculating the distance between the two nodes; Steps for obtaining the detection head speed: Divide the distance by Get the average speed of the current swing segment of the detection head (1) Similarly, the average speed of all swing segments is obtained and accumulated, and then the accumulated value is divided by M to obtain the average speed of the total movement stroke of the detection head (1). ; Steps for obtaining the screw seat speed: Calculate the speed ratio of the detection head (1) , and then calculate the average speed of the screw seat (223) , the average speed of the screw seat (223) is divided by the speed ratio of the detection head (1) to obtain the average speed of the current driving segment of the screw seat (223) ; Screw seat control step: The screw seat (223) is driven by the average speed of its current driving segment. Move along a predetermined trajectory to drive the detection head (1) to swing.

2. The swing arm structure motion control method according to claim 1, characterized in that: The lead screw seat control step also includes: the main control unit controls the drive mechanism to move so that the drive mechanism drives the lead screw seat (223) at an average speed of its current drive segment. The guide rail (221) moves along the guide rail (221). During the movement of the lead screw seat (223), the short swing arm (24) and the long swing arm (25) are driven to swing, so that the detection head (1) on the long swing arm (25) swings.

3. The swing arm structure motion control method according to claim 1, characterized in that: The swing device manufactured by the swing arm structure motion control method comprises a swing arm rod, the swing arm rod comprises a short swing arm (24) and a long swing arm (25) at a fixed angle; A connecting rod (23), one end of which is hinged to the long swing arm (25), and the other end of which is hinged to the side wall of the swing device (2); a transmission assembly (22); and A driving mechanism drives the transmission assembly (22) to drive the end of the short swing arm (24) away from the long swing arm (25) to move in a straight line direction; The hinge point where the connecting rod (23) is hinged to the swing device (2) is point F, the intersection of the short swing arm (24) and the long swing arm (25) is point E, the intersection of the connecting rod (23) and the long swing arm (25) is point G, and the end of the long swing arm (25) away from the short swing arm (24) is point D; The trajectory averaging step also includes: Initialization steps: establish a plane rectangular coordinate system with the direction in which the screw seat (223) slides upward along the guide rail (221) as the positive direction of the Y axis and the bottom end of the screw seat (223) sliding downward along the guide rail (221) as the origin, wherein the corresponding point C of the screw seat (223) moves on the Y axis of the coordinate system, the coordinate of point C is (0, a), and the coordinate of point F is (-b, c); input parameters b, c, e, h, f and ; The trajectory averaging step also includes: recording the coordinates of the detection head (1) corresponding to the point D every time the point C moves upward by m unit distances, where a is the ordinate of the point C, is the maximum value of a, where ; The functional relationship acquisition step also includes: the functional relationship is obtained using formulas (1) to (8); The detection head speed acquisition step also includes: the average speed of the current swing segment of the detection head (1) The average speed of the total movement stroke of the detection head (1) is obtained by using formula (11): Use formulas (10) to (12) to find out; The step of obtaining the speed of the lead screw seat further includes: the average speed of the current driving segment of the lead screw seat (223) Use formulas (9) to (13) to find out; ； In the formula, a is the ordinate of point C, (-b, c) is the coordinate of point F, is the coordinate of point D, , t is the total time for point D to move once, is the maximum value of a, m is the distance that point C moves per driving segment, is the time for point C to move one driving segment, is the average velocity of point D in the first swing segment, is the average velocity of point D in the nth swing segment, is the total average velocity of point D, is the average speed of point C in the nth driving segment, point J is the intersection of FG and the y axis, , When point C is at (0, 0.1n), according to the known d, e, f, h, substitute into formula (8), and obtain point D record as ; n is an integer ≥ 0.

4. The swing arm structure motion control method according to claim 3, characterized in that: Said for .

5. The swing arm structure motion control method according to claim 3, characterized in that: Said It is an obtuse angle.

6. The swing arm structure motion control method according to claim 3, characterized in that: Point F is a fixed point, and FG swings around point F. is a fixed angle, point G is on ED.

7. The swing arm structure motion control method according to claim 3, characterized in that: The control steps of the screw seat are as follows: Point C is at the average speed of the current drive segment. Move along the Y axis; The screw seat control step also includes: Determine the speed change steps: , execute the detection head coordinate acquisition step again to reset the current coordinates of point C and point D, and then execute the screw seat speed acquisition step again to reset the average speed of the current driving segment of point C , the main control unit sends a speed change signal to the drive mechanism; is the current ordinate of point C, is an integer multiple of m; Cyclic speed change step: the driving mechanism drives point C at its reset average speed according to the speed change signal Moves along the Y axis.

8. A swing device, characterized in that: A swing arm structure motion control method according to any one of claims 3 to 7 is adopted, wherein the driving mechanism is a motor (21), the transmission assembly (22) comprises a guide rail (221), a lead screw (222) and a lead screw seat (223), the lead screw seat (223) is movably arranged on the guide rail (221), the lead screw (222) is threadedly connected to the lead screw seat (223), the motor (21) is transmission-connected to the lead screw (222), and one end of the short swing arm (24) away from the long swing arm (25) is hinged to the lead screw seat (223); The direction in which the screw seat (223) slides upward along the guide rail (221) is the positive direction of the Y axis, the bottom end of the screw seat (223) sliding downward along the guide rail (221) is the origin of the coordinate system, and the screw seat (223) is point C.

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