A robotic arm control method and system

Abstract

This application provides a robotic arm control method and system, relating to the field of control technology. The method calculates the measurement distance between the target detector and the material to be crushed based on the position of a preset crushing point detected by the target detector at the outlet. Based on the measurement distance, the target detector's location, and the robotic arm's attribute parameters, it determines the motion angles of multiple rotating arms on the robotic arm. Based on these motion angles, it generates control signals for the robotic arm, thereby controlling the robotic arm to crush the material from the preset crushing point. Thus, by accurately detecting the position of the preset crushing point with the target detector and controlling the robotic arm to crush the material based on that point, it saves labor costs while improving crushing accuracy.

Description

Technical Field

[0001] This invention relates to the field of control technology, and more specifically, to a robotic arm control method and system. Background Technology

[0002] The focus is on developing high-end CNC machine tools, robotic arms, high-tech ships, advanced rail transit equipment, agricultural machinery and equipment, and other fields to improve the level of manufacturing.

[0003] Due to their high efficiency, stability, and adaptability to harsh environments, robotic arms have been transformed into productive forces in many fields such as industry and agriculture, contributing to social development. However, traditional robotic arms also have drawbacks such as poor autonomy and low compatibility. They are mostly used in working conditions with fixed parameters, processes, or even fixed motion trajectories. Even slight changes in the process or the work object require resetting the operating system and the robotic arm's motion parameters. Therefore, the technological upgrading and intelligent research of robotic arms have become hot topics in recent years.

[0004] The robotic arms in crushing plants are primarily used in mining scenarios, such as crushing large pieces of ore. Only after the ore is crushed can the next stage of production proceed. During this process, operators cannot closely observe the robotic arm's movement. When manually operating the controller and controlling the robotic arm, it's impossible to determine whether the arm is precisely performing the crushing task. Large pieces of ore can force the equipment to stop. In such cases, the power should be shut off, and the obstructing material cleared before resuming operation. However, stopping the machine to clear the obstruction wastes a significant amount of time, and manual handling poses substantial safety risks and is slow, ultimately impacting the efficiency of the entire production line.

[0005] Therefore, a method is needed that can precisely control the robotic arm to crush materials. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of the prior art by providing a robotic arm control method and system to solve the problems of low material crushing accuracy in the prior art.

[0007] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0008] In a first aspect, embodiments of this application provide a robotic arm control method applied to a controller, the controller being communicatively connected to a target detector, the target detector being disposed at a preset position on the chassis of the robotic arm, the chassis of the robotic arm facing the outlet of a feeder; the method includes:

[0009] Based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, the measurement distance between the target detector and the material to be crushed is calculated.

[0010] Based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm, the motion angles of the multiple rotating arms on the robotic arm are determined;

[0011] Based on the movement angle of the multi-segment rotating arm, a control signal for the robotic arm is generated to control the robotic arm to crush the material to be crushed from the preset crushing point.

[0012] Optionally, the attribute parameters of the robotic arm include: the arm length of the multi-segment rotating arm; determining the motion angle of the multi-segment rotating arm on the robotic arm based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm includes:

[0013] Based on the location of the target detector, determine the rotational length from the target detector to the chassis of the robotic arm;

[0014] The motion angle of the multi-segment rotating arm is determined based on the measured distance, the length of the rotating shaft, and the arm length of the multi-segment rotating arm.

[0015] Optionally, determining the motion angle of the multi-segment rotating arm based on the measured distance, the shaft length, and the arm length of the multi-segment rotating arm includes:

[0016] Based on the location of the preset breakage point, the measurement distance, the shaft length, and the shaft position on the chassis, calculate the first distance between the preset breakage point and the shaft on the chassis;

[0017] The motion angle of the multi-segment rotating arm is determined based on the first distance and the arm length of the multi-segment rotating arm.

[0018] Optionally, before calculating the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, the method further includes:

[0019] Based on the location of the preset crushing point, the height parameter of the material to be crushed in the preset vertical direction is determined, where the preset vertical direction is a preset reference plane perpendicular to the outlet.

[0020] The step of calculating the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector includes:

[0021] If the height parameter is greater than or equal to the preset height parameter, the measurement distance is calculated based on the location of the preset break point.

[0022] Optionally, determining the motion angles of the multiple rotating arms on the robotic arm based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm includes:

[0023] If the measured distance is less than or equal to the preset maximum measured distance, the motion angle of the multiple rotating arms on the robotic arm is determined based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm.

[0024] Optionally, before determining the motion angle of the multi-segment rotating arm on the robotic arm based on the measurement distance, the setting position of the target detector, and the attribute parameters of the robotic arm if the measured distance is less than or equal to a preset maximum measurement distance, the method further includes:

[0025] The preset maximum measurement distance is calculated based on the limiting height between the limiting beam at the exit and the preset reference plane at the exit, and the second distance between the limiting beam and the chassis.

[0026] Secondly, embodiments of this application provide a robotic arm control system, which includes: a controller and a target detector; the controller is communicatively connected to the target detector, and the target detector is disposed at a preset position on the chassis of the robotic arm, with the chassis of the robotic arm facing the outlet of the feeder;

[0027] The controller is configured to perform any of the methods described in the first aspect above to generate control signals for the robotic arm, and the controller is also communicatively connected to a control valve assembly on the robotic arm to control the robotic arm according to the control signals of the robotic arm.

[0028] Optionally, the robotic arm control system further includes: multiple magnetic telescopic displacement sensors, which are respectively installed on the hydraulic telescopic mechanisms corresponding to the multiple rotating arm segments on the robotic arm.

[0029] Optionally, the robotic arm control system further includes: an encoder and a first proximity switch, wherein the encoder and the first roller are disposed at a first preset mounting position on the chassis, such that the first roller contacts the side of the turntable on the chassis;

[0030] The first proximity switch is disposed at a second preset mounting position on the chassis, and a magnetic element is disposed on the first roller. The distance between the second preset mounting position and the first preset mounting position is within a preset sensing range.

[0031] The encoder and the first proximity switch are both connected to the control valve group.

[0032] Optionally, a positioning block is installed on the turntable on the chassis, and two second proximity switches are installed at two positions on the chassis at a distance from the side of the turntable within a preset range; the two second proximity switches are connected to the control valve group.

[0033] Compared with the prior art, this application has the following beneficial effects:

[0034] This application provides a robotic arm control method and system. The method calculates the measurement distance between the target detector and the material to be crushed based on the position of a preset crushing point detected by the target detector at the outlet. Based on the measurement distance, the target detector's location, and the robotic arm's attribute parameters, it determines the motion angles of multiple rotating arms on the robotic arm. Based on these motion angles, it generates control signals for the robotic arm, thereby controlling the robotic arm to crush the material from the preset crushing point. Thus, by accurately detecting the position of the preset crushing point with the target detector and controlling the robotic arm to crush the material based on that point, it saves labor costs while improving crushing accuracy. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a robotic arm control system provided in an embodiment of this application;

[0037] Figure 2 A schematic diagram showing the position between an encoder and a first proximity switch in a robotic arm control system provided in this application embodiment;

[0038] Figure 3 A schematic diagram of an angle limiting device provided in an embodiment of this application;

[0039] Figure 4 This application provides a schematic diagram of the position limit in a robotic arm control system, as shown in the embodiments of the present application.

[0040] Figure 5 A flowchart illustrating a robotic arm control method provided in this application embodiment;

[0041] Figure 6 A flowchart illustrating a method for calculating motion angles based on the setting position of a target detector, provided in an embodiment of this application;

[0042] Figure 7 A flowchart illustrating a method for calculating a motion angle based on the positional relationship between a preset breakage point and the chassis, provided in an embodiment of this application;

[0043] Figure 8 A schematic diagram showing the position for calculating the motion angle;

[0044] Figure 9 A flowchart illustrating a method for limiting a preset breakage point, provided in an embodiment of this application;

[0045] Figure 10 A schematic diagram of a robotic arm control device provided in an embodiment of this application;

[0046] Figure 11 This is a schematic diagram of a control device provided in an embodiment of this application.

[0047] Icons: 100-Controller, 200-Target Detector, 300-Robotic Arm, 400-Feeder, 500-Initial Position of Hydraulic Breaker, 301-Chassis, 302-Turntable, 303-Encoder, 304-First Roller, 305-First Proximity Switch, 306-Positioning Block, 307-Second Proximity Switch, 1001-Calculation Module, 1002-Determination Module, 1003-Generation Module, 1101-Processor, 1102-Storage Medium. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0051] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0053] In mining applications, robotic arms in crushing plants are needed to crush large pieces of ore. In existing technology, workers send PWM (Pulse Width Modulation) control signals to a wireless receiver on the robotic arm by adjusting control buttons on a controller. The wireless receiver then analyzes the pulse signals and sends control commands to the control valve assembly, thus controlling the robotic arm.

[0054] When a human operates the controller and controls the robotic arm, it is impossible to determine whether the robotic arm is accurately performing the crushing task. To more accurately control the robotic arm to complete the crushing task, this application provides a robotic arm control method and system. Before explaining the robotic arm control method, a specific example is given below to illustrate a robotic arm control system, in order to better understand the application scenarios of the robotic arm control method.

[0055] Figure 1 This is a schematic diagram of a robotic arm control system provided in an embodiment of this application. Figure 1 As shown, an example is a robotic arm including a three-segment rotating arm. The robotic arm control system includes a controller 100 and a target detector 200. The controller 100 is communicatively connected to the target detector 200. The target detector 200 is set at a preset position on the chassis 301 of the robotic arm 300, and the chassis 301 of the robotic arm 300 faces the outlet of the feeder 400.

[0056] The controller 100 is used to execute any of the robotic arm control methods provided in this application to generate control signals for the robotic arm 300. The controller 100 is also communicatively connected to the control valve group on the robotic arm 300 to control the robotic arm 300 according to the control signals. For example, the controller 100 is connected to the control valve group on the robotic arm 300 via a wireless receiver on the robotic arm 300. The controller 100 sends PWM control signals to the wireless receiver on the robotic arm 300. The wireless receiver parses the pulse signals and sends control commands to the control valve group. The control valve group controls the hydraulic telescopic mechanisms corresponding to the multi-segment rotating arms on the robotic arm 300 to control the movement angle between the multi-segment rotating arms.

[0057] To complete the ore crushing work at the feeder 400 outlet, the robotic arm 300 includes multiple rotating arms. A breaker hammer is installed at the end of the farthest rotating arm, furthest from the robotic arm 300 chassis 301. When the robotic arm 300 is working, both the chassis 301 and the breaker hammer face the feeder outlet. For example, the target detector 200 can be a lidar unit. To facilitate detection by the target detector 200, the preset position of the target detector 200 is not limited, as long as the target detection task can be completed.

[0058] In summary, in this embodiment, the robotic arm control system includes: a controller and a target detector; the controller is communicatively connected to the target detector, which is positioned at a preset location on the chassis of the robotic arm, with the chassis facing the outlet of the feeder; the controller is used to execute any of the robotic arm control methods provided in this application to generate control signals for the robotic arm, and the controller is also communicatively connected to a control valve group on the robotic arm to control the robotic arm according to the control signals. Thus, by accurately detecting the location of the preset crushing point through the target detector and controlling the robotic arm to crush the material to be crushed based on the preset crushing point, the crushing accuracy is improved while saving labor costs.

[0059] Continue to refer to Figure 1 .

[0060] The robotic arm control system also includes multiple magnetic telescopic displacement sensors, which are respectively installed on the hydraulic telescopic mechanisms corresponding to the multiple segments of the robotic arm 300. Each magnetic telescopic displacement sensor can measure the telescopic displacement of the corresponding hydraulic telescopic mechanism based on its extension and retraction. The magnetic telescopic displacement sensors are also communicatively connected to the controller 100 and send the telescopic displacement of the hydraulic telescopic mechanism to the controller 100. The controller 100 determines whether the control process is complete based on the telescopic displacement of the hydraulic telescopic mechanism fed back by the magnetic telescopic displacement sensors.

[0061] Figure 2 This is a schematic diagram showing the position between the encoder and the first proximity switch in a robotic arm control system provided in an embodiment of this application.

[0062] like Figure 2As shown, the robotic arm control system also includes an encoder 303 and a first proximity switch 305. The encoder 303 and the first roller 304 are mounted at a first preset installation position on the chassis 301, so that the first roller 304 contacts the side of the turntable 302 on the chassis 301. The encoder 303 and the first roller 304 are connected, and the first roller 304 rotates with the turntable 302. The encoder 303 can obtain the rotation arc length of the turntable 302 by obtaining the rotation arc length of the first roller 304. The rotation angle of the turntable 302 can be obtained from the rotation arc length of the turntable 302. Since the robotic arm 300 and the turntable 302 rotate as a whole, the rotation angle of the turntable 302 is the rotation angle of the robotic arm 300.

[0063] The first proximity switch 305 is mounted at a second preset installation position on the chassis 301. A magnetic element is mounted on the first roller 304. The distance between the second preset installation position and the first preset installation position is within a preset sensing range. When the magnetic element senses the first proximity switch 305, the first proximity switch 305 receives a rotation signal from the first roller 304, which can be used to verify the measurement angle of the encoder 303.

[0064] The encoder 303 and the first proximity switch 305 are both connected to the control valve group to send the rotation angle information and angle verification information of the robotic arm 300 to the control valve group.

[0065] Based on encoder 303, the rotation angle of robotic arm 300 can be limited. When the rotation angle of robotic arm 300 is within the preset range, robotic arm 300 can rotate freely. When the rotation angle of robotic arm 300 exceeds the preset range, robotic arm 300 is controlled to stop rotating.

[0066] For example, Figure 3 A schematic diagram of an angle limiting mechanism provided for an embodiment of this application, such as... Figure 3 As shown, in order to make the robotic arm 300 work within the outlet range of the feeder 400, the line connecting the initial position 500 of the breaker hammer and the robotic arm 300 is taken as the starting side, and the rotation angle of the robotic arm 300 is controlled within A, that is, the rotation of the robotic arm 300 is controlled so that the breaker hammer is within the outlet range of the feeder.

[0067] In summary, in this embodiment, the robotic arm control system further includes: an encoder and a first proximity switch. The encoder and the first roller are disposed at a first preset mounting position on the chassis, such that the first roller contacts the side of the turntable on the chassis. The first proximity switch is disposed at a second preset mounting position on the chassis. The first roller is provided with a magnetic element, and the distance between the second preset mounting position and the first preset mounting position is within a preset sensing range. Both the encoder and the first proximity switch are connected to a control valve assembly. Thus, by setting the encoder and the proximity switch, the rotation angle of the robotic arm is monitored, preventing the robotic arm from rotating beyond a limited angle.

[0068] Figure 4 This is a schematic diagram of the position limit in a robotic arm control system provided in an embodiment of this application.

[0069] like Figure 4 As shown, a positioning block 306 is installed on the turntable on the chassis. Two second proximity switches 307 are installed at two positions on the chassis 301 at a distance from the side of the turntable 302 within a preset range. The two second proximity switches 307 are connected to a control valve assembly. When the positioning block 306 rotates with the turntable 302 to the position of the second proximity switch 307, a limit signal of the second proximity switch 307 can be triggered. The second proximity switch 307 transmits the limit signal to the control valve assembly, which can limit the rotation of the robotic arm 300 according to the limit signal.

[0070] In summary, in this embodiment, a positioning block is installed on the turntable on the chassis, and two second proximity switches are installed at two positions on the chassis at a distance from the side of the turntable within a preset range; the two second proximity switches are connected to a control valve assembly. Therefore, the rotation angle of the robotic arm is monitored through the positioning block and proximity switches to prevent the robotic arm from rotating beyond a limited angle.

[0071] In the above Figures 1-4 Based on any of the robotic arm control systems shown, this application also provides a robotic arm control method. Figure 5 A flowchart illustrating a robotic arm control method provided in this application embodiment. For example... Figure 5 The method is executed by a controller in a robotic arm control system. The controller is communicatively connected to a target detector, which is positioned at a predetermined location on the chassis of the robotic arm, with the chassis facing the feeder's outlet. The method includes:

[0072] S101. Calculate the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector.

[0073] First, the location of a preset crushing point on the material to be crushed at the outlet is detected by a target detector. For example, the target detector can be a lidar sensor. The lidar sensor acquires the positions of multiple points on the material to be crushed, and the point with the smallest measured distance is selected as the preset crushing point. The measured distance between the target detector and the material to be crushed is calculated based on the position coordinates of the preset crushing point relative to the target detector and the position coordinates of the target detection distance.

[0074] S102. Based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm, 5. Determine the motion angle of the multi-segment rotating arm on the robotic arm.

[0075] The target detector is positioned at a predetermined location on the chassis of the robotic arm. Once this predetermined location is determined, the positional relationship between the target detector and the robotic arm is uniquely determined. By obtaining the measured distance between the target detector and the material to be crushed, and determining the coordinates of the predetermined crushing point relative to the target detector, the positional relationship between the predetermined crushing point and the robotic arm is also determined.

[0076] Furthermore, the motion angles of the multiple rotating arms on the robotic arm can be determined based on the robotic arm's attribute parameters and the positional relationship between the preset breaking point and the robotic arm. The robotic arm's attribute parameters are inherent parameters that can be used to calculate the robotic arm's control parameters. The motion angles of the multiple rotating arms are the angles between every two rotating arms and the angle between the first rotating arm connected to the chassis and the chassis's pivot point.

[0077] The angle between the line segment containing the breaking point and the target line. The robotic arm's attribute parameters are fixed values. Once the motion angles of the multi-segment 5-rotor arm are determined, the robotic arm's motion state is determined, and the robotic arm can be controlled to reach the control position.

[0078] S103. Based on the movement angle of the multi-segment rotating arm, generate control signals for the robotic arm, and control the robotic arm to crush the material to be crushed from the preset crushing point according to the control signals.

[0079] After calculating the motion angles of the multi-segment rotating arms, the rotation of the robotic arm can be controlled using these angle values. Therefore, based on the motion angles of the multi-segment rotating arms, a control signal for the robotic arm is generated. The controller sends this control signal to the wireless receiver on the robotic arm. The wireless receiver parses the pulse signal and sends control commands to the control valve assembly. The control valve assembly controls the hydraulic telescopic mechanisms corresponding to the multi-segment rotating arms on the robotic arm to control the motion angles between the segments and to control the robotic arm to crush the material from the preset crushing point.

[0080] 5. In summary, in this embodiment, the measurement distance between the target detector and the material to be crushed is calculated based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector. The motion angles of the multiple rotating arms on the robotic arm are determined based on the measurement distance, the target detector's location, and the robotic arm's attribute parameters. Control signals for the robotic arm are generated based on these motion angles, and the robotic arm is then controlled to crush the material from the preset crushing point. Thus, by accurately detecting the position of the preset crushing point with the target detector and controlling the robotic arm to crush the material based on that point, the crushing accuracy is improved while saving labor costs.

[0081] Figure 6 This is a flowchart illustrating a method for calculating motion angles based on the placement position of a target detector, as provided in an embodiment of this application. Figure 6 As shown, the attribute parameters of the robotic arm include: the arm length of the multi-segment rotating arm; and in S102, determining the motion angle of the multi-segment rotating arm on the robotic arm based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm, including:

[0082] S201. Determine the shaft length from the target detector to the chassis of the robotic arm based on the target detector's location.

[0083] Once the target detector is positioned at a predetermined location on the chassis of the robotic arm, the length of the axis of rotation from the target detector to the chassis of the robotic arm is uniquely determined. Based on the coordinates of the target detector's position and the coordinates of the axis of rotation relative to the target detector, the length of the axis of rotation from the target detector to the target detector is calculated using the distance formula between the two points.

[0084] S202. Determine the motion angle of the multi-segment rotating arm based on the measured distance, the length of the rotating shaft, and the arm length of the multi-segment rotating arm.

[0085] The measuring distance, the shaft length, and the arm lengths of the multi-segment rotating arms form a polygon, and the side lengths of the polygon are the measuring distance, the shaft length, and the arm lengths of the multi-segment rotating arms. Since the positional relationship between the preset breaking point, the target detector, and the robotic arm is uniquely determined, the motion angle of the multi-segment rotating arms can be determined based on the measuring distance, the shaft length, and the arm lengths of the multi-segment rotating arms.

[0086] In summary, in this embodiment, the shaft length from the target detector to the chassis of the robotic arm is determined based on the target detector's location; the motion angle of the multi-segment robotic arm is determined based on the measured distance, shaft length, and arm length of the multi-segment robotic arm. Thus, by determining the motion angle of the multi-segment robotic arm using a fixed target detector location, the accuracy of the motion angle is improved.

[0087] Figure 7This is a flowchart illustrating a method for calculating a motion angle based on the positional relationship between a preset breakage point and the chassis, as provided in an embodiment of this application. Figure 7 As shown, the attribute parameters of the robotic arm include: the arm length of the multi-segment rotating arm; and in S202, the motion angle of the multi-segment rotating arm is determined based on the measured distance, the shaft length, and the arm length of the multi-segment rotating arm, including:

[0088] S301. Calculate the first distance between the preset break point and the shaft on the chassis based on the location of the preset break point, the measurement distance, the shaft length, and the position of the shaft on the chassis.

[0089] Once the positions of the preset break point, the target detector, and the rotating shaft on the chassis are determined, the angle formed between the preset break point, the target detector, and the rotating shaft on the chassis can be calculated based on the direction vector between the two points. Then, using the law of cosines and substituting the measured distance and the shaft length, the first distance between the preset break point and the rotating shaft on the chassis can be calculated.

[0090] S302. Determine the motion angle of the multi-segment rotating arm based on the first distance and the arm length of the multi-segment rotating arm.

[0091] Based on the first distance and the arm lengths of the multi-segment rotating arms, a polygon can be formed, and since the lengths of all sides of the polygon are known, the motion angles of the multi-segment rotating arms can be further determined.

[0092] For example, to make the calculation process for determining the motion angles of a multi-segment rotating arm clearer, the following explanation uses a robotic arm consisting of three segments. Starting from the chassis position, the three segments of the robotic arm are, in sequence, the first segment, the second segment, and the third segment. The first segment, along with the first, second, and third segments, form a quadrilateral. The motion angles of the multi-segment rotating arms are the angles between the first segment and the first segment, the first and second segments, and the second and third segments; that is, the motion angles are the three interior angles of this quadrilateral. Given the four side lengths of the quadrilateral, to obtain the values ​​of its three interior angles, one interior angle can be set as a known preset angle. Then, using the law of cosines and substituting this preset angle and the four side lengths, the other three interior angles of the quadrilateral can be calculated.

[0093] Specifically, taking the angle between the second and third rotating arms as a preset angle (for example, a preset angle of 120 degrees) as an example, the calculation of the motion angle is explained. Figure 8 This is a schematic diagram for calculating the position of the motion angle. For example... Figure 8As shown, the first distance is L1, the first arm length is L2, the second arm length is L3, the third arm length is L4, the third distance is L5, the angle between the first distance and the first rotating arm is A1, the angle between the first rotating arm and the second rotating arm is A2, the angle between the second rotating arm and the third rotating arm is A3, the angle between the second rotating arm and the third distance is A4, and the angle between the third distance and the first arm length is A5.

[0094] In the triangle formed by the third arm length L4, the second arm length L3, and the third distance L5, the third distance L5 is calculated using the law of cosines based on the third arm length L4, the second arm length L3, and the angle A3 between the second and third rotating arms. The third distance L5 is the distance between the axis connecting the second and first rotating arms and the preset breaking point. Furthermore, the angle A4 between the second rotating arm and the third distance is calculated using either the law of cosines or the law of sines.

[0095] In the triangle formed by the first arm length L2, the first distance L1, and the third distance L5, the angle A1 between the first distance and the first rotating arm can be calculated using the law of cosines, based on these measurements. The angle A5 between the third distance and the first arm length can also be calculated. The sum of the angle A5 between the third distance and the first arm length and the angle A4 between the second rotating arm and the third distance is the angle A2 between the second and third rotating arms.

[0096] At this point, the angles A1 between the first distance and the first rotating arm, A2 between the first rotating arm and the second rotating arm, and A3 between the second rotating arm and the third rotating arm in the motion angle have all been calculated.

[0097] The above is just an example. If the robotic arm has multiple segments, the motion angles of the multiple segments can also be calculated using the above calculation method.

[0098] In summary, in this embodiment, based on the location of the preset breaking point, the measurement distance, the shaft length, and the shaft position on the chassis, a first distance between the preset breaking point and the shaft on the chassis is calculated; based on the first distance and the arm length of the multi-segment rotating arm, the motion angle of the multi-segment rotating arm is determined. Thus, the motion angle of the multi-segment rotating arm is accurately calculated.

[0099] Figure 9 This is a flowchart illustrating a method for limiting a preset breakage point, provided as an embodiment of this application. Figure 9 As shown, before calculating the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector in S101, the method further includes:

[0100] S401. Determine the height parameter of the material to be crushed in the preset vertical direction based on the location of the preset crushing point. The preset vertical direction is the preset reference plane perpendicular to the outlet.

[0101] After determining the location of the preset crushing point, the position coordinates of the preset crushing point are used to calculate the height parameter between the location of the preset crushing point and the preset reference plane at the feeder outlet, which serves as a further safety limit value.

[0102] Further, in S101, based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, the measurement distance between the target detector and the material to be crushed is calculated, including:

[0103] S402. If the height parameter is greater than or equal to the preset height parameter, the measurement distance is calculated based on the location of the preset break point.

[0104] The preset height parameter is a safety limit value determined based on the feeder's attribute parameters; for example, the preset height parameter could be 20 centimeters. If the height parameter is greater than or equal to the preset height parameter, it indicates that the determined preset crushing point is close to the center of the material and can be used for crushing. The measurement distance can then be calculated based on the location of the preset crushing point.

[0105] In addition, if the height parameter is less than the preset height parameter, the crushing point is too low, indicating that the determined preset crushing point is far from the center of the material, and the crushing work may not be completed based on this crushing point. Therefore, a message will be displayed indicating that the crushing point is too low.

[0106] In summary, in this embodiment, the height parameter of the material to be crushed in a preset vertical direction is determined based on the location of the preset crushing point. The preset vertical direction is a preset reference plane perpendicular to the outlet. If the height parameter is greater than or equal to the preset height parameter, the measurement distance is calculated based on the location of the preset crushing point. This improves the practicality of the preset crushing point.

[0107] Furthermore, S102, determining the motion angles of the multiple rotating arms on the robotic arm based on the measured distance, the target detector's location, and the robotic arm's attribute parameters, also includes:

[0108] If the measured distance is less than or equal to the preset maximum measured distance, the motion angle of the multi-segment rotating arm on the robotic arm is determined based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm.

[0109] During the control of the robotic arm, it may extend into the limiting beam at the feeder outlet. Due to the complex structure of the robotic arm, it may get caught on the limiting beam. Therefore, if the measured distance is less than or equal to the preset maximum measured distance, i.e., the measured distance is within a reasonable range, the robotic arm can be further controlled for crushing. If the measured distance is greater than the preset maximum measured distance, an indication will be given that automatic crushing control cannot be performed.

[0110] Furthermore, before determining the motion angles of the multiple rotating arms on the robotic arm based on the measurement distance, the target detector's position, and the robotic arm's attribute parameters if the measured distance is less than or equal to the preset maximum measurement distance, the method further includes:

[0111] The preset maximum measurement distance is calculated based on the limiting height between the limiting beam at the exit and the preset reference plane at the exit, and the second distance between the limiting beam and the chassis.

[0112] The limiting height between the limiting beam at the exit and the preset reference plane at the exit is perpendicular to the second distance between the limiting beam and the chassis. Taking half of the limiting height and the second distance as the legs of a right triangle, and the preset maximum measurement distance as the hypotenuse of the right triangle, the preset maximum measurement distance is calculated using the Pythagorean theorem and by substituting half of the limiting height and the second distance.

[0113] The following describes a robotic arm control device, equipment, and storage medium provided in this application for implementation. The specific implementation process and technical effects are described above and will not be repeated below.

[0114] Figure 10 This is a schematic diagram of a robotic arm control device provided in an embodiment of this application, as shown below. Figure 10 As shown, the device includes:

[0115] The calculation module 1001 is used to calculate the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector.

[0116] The determination module 1002 is used to determine the motion angle of the multiple rotating arms on the robotic arm based on the measured distance, the setting position of the target detector, and the attribute parameters of the robotic arm.

[0117] The generation module 1003 is used to generate control signals for the robotic arm based on the movement angles of the multi-segment rotating arm, so as to control the robotic arm to crush the material to be crushed from the preset crushing point according to the control signals.

[0118] Furthermore, the determining module 1002 is specifically used to determine the shaft length from the target detector to the chassis of the robotic arm based on the setting position of the target detector; and to determine the motion angle of the multi-segment robotic arm based on the measured distance, the shaft length, and the arm length of the multi-segment robotic arm.

[0119] Furthermore, the determining module 1002 is specifically used to calculate the first distance between the preset breaking point and the rotating shaft on the chassis based on the position of the preset breaking point, the measurement distance, the length of the rotating shaft, and the position of the rotating shaft on the chassis; and to determine the motion angle of the multi-segment rotating arm based on the first distance and the arm length of the multi-segment rotating arm.

[0120] Furthermore, the calculation module 1001 is specifically used to determine the height parameter of the material to be crushed in a preset vertical direction based on the position of the preset crushing point, wherein the preset vertical direction is a preset reference plane perpendicular to the outlet; and to calculate the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, including: if the height parameter is greater than or equal to the preset height parameter, then the measurement distance is calculated based on the position of the preset crushing point.

[0121] Furthermore, the determining module 1002 is specifically used to determine the motion angle of the multi-segment rotating arm on the robotic arm based on the measurement distance, the setting position of the target detector, and the attribute parameters of the robotic arm if the measured distance is less than or equal to the preset maximum measurement distance.

[0122] Furthermore, the determining module 1002 is specifically used to calculate the preset maximum measurement distance based on the limiting height between the limiting beam at the exit and the preset reference plane at the exit, and the second distance between the limiting beam and the chassis.

[0123] Figure 11 This is a schematic diagram of a control device provided in an embodiment of this application. The control device may be a device with computing processing capabilities.

[0124] The control device includes a processor 1101 and a storage medium 1102. The processor 1101 and the storage medium 1102 are connected via a bus.

[0125] Storage medium 1102 is used to store programs, and processor 1101 calls the programs stored in storage medium 1102 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described again here.

[0126] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0127] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual relationships shown or discussed...

[0128] The coupling or direct coupling or communication connection between them can be an indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0129] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0130] 0. Furthermore, the functional units in the various embodiments of the present invention can be integrated into a single processing unit.

[0131] In this context, each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a combination of hardware and software functional units.

[0132] The integrated unit implemented as a software functional unit described above can be stored in a computer-readable storage medium. The software functional unit stored in the storage medium includes several...

[0133] The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage media include: USB flash drives, external hard drives, and read-only memory (ROMs).

[0134] Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disks, optical disks, and other media that can store program code.

Claims

1. A robotic arm control method, characterized in that, The method is applied to a controller, which is communicatively connected to a target detector, the target detector being positioned at a predetermined location on the chassis of a robotic arm, the chassis of the robotic arm facing the outlet of the feeder; the method includes: Based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, the measurement distance between the target detector and the material to be crushed is calculated. Based on the limiting height between the limiting beam at the exit and the preset reference plane at the exit, and the perpendicular relationship between the limiting beam and the chassis, half of the limiting height and the second distance are taken as the legs of a right triangle, and the preset maximum measurement distance is taken as the hypotenuse of the right triangle. Using the Pythagorean theorem, the preset maximum measurement distance is calculated by substituting half of the limiting height and the second distance. If the measured distance is less than or equal to the preset maximum measured distance, the attribute parameters of the robotic arm include: the arm length of the multi-segment rotating arm; the length of the rotating shaft from the target detector to the chassis of the robotic arm, determined according to the setting position of the target detector; the first distance between the preset break point and the rotating shaft on the chassis, calculated according to the position of the preset break point, the measured distance, the rotating shaft length, and the rotating shaft position on the chassis; and a polygon formed according to the first distance and the arm length of the multi-segment rotating arm, and the motion angle of the multi-segment rotating arm determined using the law of cosines or the law of sines. Based on the movement angle of the multi-segment rotating arm, a control signal for the robotic arm is generated to control the robotic arm to crush the material to be crushed from the preset crushing point. Before calculating the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector, the method further includes: Based on the location of the preset crushing point, the height parameter of the material to be crushed in the preset vertical direction is determined, where the preset vertical direction is a preset reference plane perpendicular to the outlet. The step of calculating the measurement distance between the target detector and the material to be crushed based on the position of the preset crushing point on the material to be crushed at the outlet detected by the target detector includes: If the height parameter is greater than or equal to the preset height parameter, the measurement distance is calculated based on the location of the preset breakage point; the preset height parameter is a safety limit value determined based on the attribute parameters of the feeder.

2. A robotic arm control system, characterized in that, The robotic arm control system includes: a controller and a target detector; the controller is communicatively connected to the target detector, and the target detector is set at a preset position on the chassis of the robotic arm, with the chassis of the robotic arm facing the outlet of the feeder; The controller is used to execute the method of claim 1 to generate control signals for the robotic arm, and the controller is also communicatively connected to a control valve group on the robotic arm to control the robotic arm according to the control signals of the robotic arm.

3. The system according to claim 2, characterized in that, The robotic arm control system also includes: multiple magnetic telescopic displacement sensors, which are respectively installed on the hydraulic telescopic mechanisms corresponding to the multiple rotating arm segments on the robotic arm.

4. The system according to claim 2, characterized in that, The robotic arm control system further includes: an encoder and a first proximity switch. The encoder and the first roller are disposed at a first preset mounting position on the chassis, so that the first roller contacts the side of the turntable on the chassis. The first proximity switch is disposed at a second preset mounting position on the chassis, and a magnetic element is disposed on the first roller. The distance between the second preset mounting position and the first preset mounting position is within a preset sensing range. The encoder and the first proximity switch are both connected to the control valve group.

5. The system according to claim 2, characterized in that, A positioning block is installed on the turntable on the chassis, and two second proximity switches are installed at two positions on the chassis at a distance from the side of the turntable within a preset range; the two second proximity switches are connected to the control valve group.

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