Mechanical arm control method, device, equipment and storage medium

Abstract

This invention discloses a robotic arm control method, apparatus, device, and computer-readable storage medium. The method includes: calculating relative position information between the robotic arm and the target device based on first sensor data collected by a first sensor deployed on the robotic arm and second sensor data collected by a second sensor deployed on a target device in a photovoltaic power station to be built; and controlling the robotic arm according to the relative position information to move the robotic arm to the area where the target device is located. This invention improves the control efficiency of robotic arms.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and in particular to a robotic arm control method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] Currently, in the construction of photovoltaic power plants, robotic arms are usually controlled manually. Specifically, the operator uses their eyes to determine the position of the robotic arm and then controls it to move to the area where the equipment is located in the photovoltaic power plant to be built. However, due to the limited accuracy of visual recognition, it is easy to need to repeatedly control and adjust the robotic arm, resulting in low control efficiency. Summary of the Invention

[0003] The main objective of this invention is to provide a robotic arm control method, apparatus, device, and computer-readable storage medium, aiming to propose a robotic arm control scheme and improve robotic arm control efficiency.

[0004] To achieve the above objectives, the present invention provides a robotic arm control method, the robotic arm control method comprising the following steps:

[0005] The relative position information between the robotic arm and the target device is calculated based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built.

[0006] Based on the relative position information, the robotic arm is controlled to move to the area where the target device is located.

[0007] Optionally, the step of controlling the robotic arm based on the relative position information includes:

[0008] Based on the relative position information, detect whether the robotic arm has moved to the area where the target device is located;

[0009] If the robotic arm does not move to the area where the target device is located, then based on the relative position information, the robotic arm is subjected to vertical control, horizontal control, or tilt control, and returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, until the robotic arm is detected to have moved to the area where the target device is located.

[0010] Optionally, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0011] Based on the relative position information, it is detected whether the position of the robotic arm is higher than the area where the target device is located;

[0012] If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information;

[0013] If the position of the robotic arm is not higher than the area where the target device is located, then after detecting that the horizontal and tilt control of the robotic arm has been completed, the robotic arm is vertically controlled according to the relative position information.

[0014] Optionally, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0015] If the robotic arm is located above the area where the target device is located and the relative position information does not meet the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information; or,

[0016] If the relative position information satisfies the preset relative height condition but does not satisfy the preset relative distance condition, then the robotic arm is horizontally controlled based on the relative position information; or...

[0017] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information.

[0018] Optionally, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0019] If the position of the robotic arm is not higher than the area where the target device is located and the relative position information does not meet the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or,

[0020] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information; or,

[0021] If the relative position information satisfies the preset relative tilt angle condition but does not satisfy the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information.

[0022] Optionally, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0023] Obtain environmental information about the environment in which the robotic arm is located;

[0024] Based on the relative position information, determine the control amount for vertical control, horizontal control, or tilt control of the robotic arm;

[0025] Based on the control quantity and the environmental information, a control speed corresponding to the control quantity is generated;

[0026] The robotic arm is controlled according to the control quantity and the control speed corresponding to each control quantity.

[0027] Optionally, the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes:

[0028] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the angle between the straight line formed by the robotic arm and the target device and the preset baseline.

[0029] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0030] The horizontal distance, the included angle, and the relative tilt angle are used as the relative position information.

[0031] Optionally, the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes:

[0032] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the vertical distance between the robotic arm and the target device.

[0033] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0034] The horizontal distance, the vertical distance, and the relative tilt angle are used as the relative position information.

[0035] Optionally, before the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the method further includes:

[0036] The target device is set as a photovoltaic module in the photovoltaic power station to be built;

[0037] After the step of controlling the robotic arm based on the relative position information, the method further includes:

[0038] If the robotic arm is detected to have moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module.

[0039] The target device is adjusted to be the photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located.

[0040] If it is detected that the robotic arm has moved the photovoltaic module to the area where the photovoltaic support is located, then the robotic arm is controlled to install the photovoltaic module onto the photovoltaic support.

[0041] To achieve the above objectives, the present invention also provides a robotic arm control device, the robotic arm control device comprising:

[0042] The calculation module is used to calculate the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built.

[0043] The control module is used to control the robotic arm according to the relative position information, so that the robotic arm moves to the area where the target device is located.

[0044] To achieve the above objectives, the present invention also provides a robotic arm control device, the robotic arm control device comprising: a memory, a processor, and a robotic arm control program stored in the memory and executable on the processor, wherein the robotic arm control program, when executed by the processor, implements the steps of the robotic arm control method as described above.

[0045] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a robotic arm control program, which, when executed by a processor, implements the steps of the robotic arm control method described above.

[0046] In this embodiment of the invention, the relative position information between the robotic arm and the target device is calculated based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built. Based on the relative position information, the robotic arm is controlled to move to the area where the target device is located, thereby realizing the automated control of the robotic arm. By using the relative position information between the robotic arm and the target device as the basis for the control of the robotic arm, the control process of the robotic arm moving to the area where the target device is located is shortened, thus improving the control efficiency of the robotic arm. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the hardware operating environment involved in the embodiments of the present invention;

[0048] Figure 2 This is a flowchart illustrating the first embodiment of the robotic arm control method of the present invention;

[0049] Figure 3 This is a schematic diagram of the functional modules of a preferred embodiment of the robotic arm control device of the present invention.

[0050] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0052] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0053] It should be noted that the robotic arm control device in this embodiment of the invention can be a control system for the robotic arm, or it can be a smartphone, personal computer, server, or other device, without any specific limitations.

[0054] like Figure 1 As shown, the robotic arm control device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the robotic arm control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1005, serving as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a robotic arm control program. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the operation of the robotic arm control program and other software or programs. Figure 1 In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the robotic arm control program stored in the memory 1005 and perform the following operations:

[0057] The relative position information between the robotic arm and the target device is calculated based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built.

[0058] Based on the relative position information, the robotic arm is controlled to move to the area where the target device is located.

[0059] In one feasible implementation, the operation of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0060] Based on the relative position information, it is detected whether the position of the robotic arm is higher than the area where the target device is located;

[0061] If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information;

[0062] If the position of the robotic arm is not higher than the area where the target device is located, then after detecting that the horizontal and tilt control of the robotic arm has been completed, the robotic arm is vertically controlled according to the relative position information.

[0063] In one feasible implementation, the operation of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0064] If the robotic arm is located above the area where the target device is located and the relative position information does not meet the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information; or,

[0065] If the relative position information satisfies the preset relative height condition but does not satisfy the preset relative distance condition, then the robotic arm is horizontally controlled based on the relative position information; or...

[0066] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information.

[0067] In one feasible implementation, the operation of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0068] Based on the relative position information, it is detected whether the position of the robotic arm is higher than the area where the target device is located;

[0069] If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information;

[0070] If the position of the robotic arm is not higher than the area where the target device is located, then after detecting that the horizontal and tilt control of the robotic arm has been completed, the robotic arm is vertically controlled according to the relative position information.

[0071] In one feasible implementation, the operation of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0072] If the position of the robotic arm is not higher than the area where the target device is located and the relative position information does not meet the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or,

[0073] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information; or,

[0074] If the relative position information satisfies the preset relative tilt angle condition but does not satisfy the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information.

[0075] In one feasible implementation, the operation of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0076] Obtain environmental information about the environment in which the robotic arm is located;

[0077] Based on the relative position information, determine the control amount for vertical control, horizontal control, or tilt control of the robotic arm;

[0078] Based on the control quantity and the environmental information, a control speed corresponding to the control quantity is generated;

[0079] The robotic arm is controlled according to the control quantity and the control speed corresponding to each control quantity.

[0080] In one feasible implementation, the operation of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes:

[0081] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the angle between the straight line formed by the robotic arm and the target device and the preset baseline.

[0082] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0083] The horizontal distance, the included angle, and the relative tilt angle are used as the relative position information.

[0084] In one feasible implementation, the operation of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes:

[0085] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the vertical distance between the robotic arm and the target device.

[0086] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0087] The horizontal distance, the vertical distance, and the relative tilt angle are used as the relative position information.

[0088] In one feasible embodiment, before calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the processor 1001 can also be used to call the robotic arm control program stored in the memory 1005 to perform the following operations:

[0089] The target device is set as a photovoltaic module in the photovoltaic power station to be built;

[0090] After controlling the robotic arm based on the relative position information, the processor 1001 can also call the robotic arm control program stored in the memory 1005 to perform the following operations:

[0091] If the robotic arm is detected to have moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module.

[0092] The target device is adjusted to be the photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located.

[0093] If it is detected that the robotic arm has moved the photovoltaic module to the area where the photovoltaic support is located, then the robotic arm is controlled to install the photovoltaic module onto the photovoltaic support.

[0094] Based on the above structure, various embodiments of the robotic arm control method are proposed.

[0095] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the robotic arm control method of the present invention.

[0096] This invention provides an embodiment of a robotic arm control method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order. In this embodiment, the executing entity of the robotic arm control method can be the control system of the robotic arm, or it can be other devices. No limitation is made in this embodiment. For ease of description, the execution entity is omitted from the description of each embodiment. In this embodiment, the robotic arm control method includes:

[0097] Step S10: Based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the relative position information between the robotic arm and the target device is calculated.

[0098] In this embodiment, the robotic arm is controlled to move to the area where the target device is located, based on the relative position information. The area where the target device is located can be a range corresponding to the position of the target device, or it can be a position that is at a preset distance from the position of the target device.

[0099] This embodiment does not limit the number or deployment location of sensors. For example, the number of first sensors can be single or multiple, and the number of second sensors can also be single or multiple. The first sensor can be deployed at any part of the robotic arm, and the second sensor can also be deployed at any part of the target device.

[0100] In one feasible embodiment, the first sensor may also be deployed at any edge position and / or center position of the robotic arm, and / or the second sensor may also be deployed at any edge position and / or center position of the target device.

[0101] In this embodiment, since the position of the robotic arm is quantified using data from the first sensor and the position of the target device is quantified using data from the second sensor, the complexity of subsequent calculation of relative position information and control of the robotic arm's movement can be reduced by placing the sensors at the edge and / or center of the robotic arm and / or the target device.

[0102] In one feasible implementation, step S10 may include: sensing the position of the robotic arm through the first sensor to obtain the first sensor data, sensing the position of the target device through the second sensor to obtain the second sensor data, and using the difference between the first sensor data and the second sensor data in each directional dimension as the relative position information.

[0103] Step S20: Based on the relative position information, control the robotic arm to move it to the area where the target device is located.

[0104] In one feasible embodiment, based on the relative position information, at least one control direction for controlling the robotic arm and a control amount corresponding to each control direction are determined, and the movement of the robotic arm is controlled according to each control direction and the control amount corresponding to each control direction.

[0105] In this embodiment of the invention, the relative position information between the robotic arm and the target device is calculated based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built. Based on the relative position information, the robotic arm is controlled to move to the area where the target device is located, thereby realizing the automated control of the robotic arm. By using the relative position information between the robotic arm and the target device as the basis for the control of the robotic arm, the control process of the robotic arm moving to the area where the target device is located is shortened, thus improving the control efficiency of the robotic arm.

[0106] Based on the first embodiment described above, a second embodiment of the robotic arm control method of the present invention is proposed. In this embodiment, before the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built in step S10, the method further includes:

[0107] Step S01: Set the target device as a photovoltaic module in the photovoltaic power station to be built;

[0108] In this embodiment, a usage scenario is proposed: before calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the target device is set as a photovoltaic module in the photovoltaic power station to be built, so that the robotic arm can move to the area where the photovoltaic module is located.

[0109] In one feasible embodiment, the target device is set as any photovoltaic module in the photovoltaic power station to be built.

[0110] Understandably, the longer the distance between the robotic arm and the target device, the longer the robotic arm control time may be, and therefore the lower the robotic arm control efficiency.

[0111] In another feasible embodiment, the target device is set as the photovoltaic module closest to the robotic arm in the photovoltaic power station to be built.

[0112] In this embodiment, the target device is set as the photovoltaic module closest to the robotic arm, so that the distance between the robotic arm and the target device is as short as possible, which shortens the control time of the robotic arm to a certain extent and thus improves the control efficiency of the robotic arm.

[0113] After the step of controlling the robotic arm based on the relative position information, step S20 further includes:

[0114] Step S30: If the robotic arm is detected to have moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module.

[0115] In this embodiment, it should be noted that the robotic arm includes at least one first arm and at least one second arm perpendicular to any one of the first arms. The arms are connected by joints. The robotic arm includes a gripping device for gripping objects. The gripping device is connected to the arm by joints. The gripping device can be a robotic hand or a suction cup.

[0116] In one feasible embodiment, the gripping device includes a robotic arm or a suction cup. If the robotic arm is detected to move to the area where the photovoltaic module is located, the robotic arm is controlled to grip the photovoltaic module, or the suction cup is controlled to suck up the photovoltaic module.

[0117] Step S40: Adjust the target device to the photovoltaic support in the photovoltaic power station to be built, and return to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located.

[0118] In this embodiment, it should be noted that a placement component with a deployment position is deployed on a photovoltaic support. The placement component is used to place photovoltaic modules, and the deployment position of the placement component matches the size and / or model of a photovoltaic module.

[0119] In one feasible embodiment, the target device is adjusted to be a photovoltaic bracket whose deployment position of the corresponding placement component in the photovoltaic power station to be built matches the size and / or model of the photovoltaic module;

[0120] In this embodiment, a photovoltaic bracket is selected whose deployment position of the corresponding placement component matches the size and / or model of the photovoltaic module. This avoids the technical defect that the photovoltaic module and photovoltaic bracket cannot be installed due to the mismatch between the deployment position of the placement component corresponding to the selected photovoltaic bracket and the size and / or model of the photovoltaic module. Therefore, it ensures that the robotic arm controls the installation of the photovoltaic module onto the photovoltaic bracket.

[0121] In another feasible embodiment, the target device is adjusted so that the deployment position of the corresponding placement component in the photovoltaic power station to be built matches the size and / or model of the photovoltaic module, and is the photovoltaic bracket closest to the robotic arm.

[0122] In this embodiment, a photovoltaic bracket is selected whose deployment position of the corresponding placement component matches the size and / or model of the photovoltaic module. This avoids the mismatch between the deployment position of the placement component corresponding to the selected photovoltaic bracket and the size and / or model of the photovoltaic module. In addition, the time required to control the robotic arm to move the photovoltaic module is shortened to a certain extent. Therefore, while ensuring that the robotic arm controls the photovoltaic module to be installed on the photovoltaic bracket, the control efficiency of controlling the robotic arm to move the photovoltaic module and install it on the photovoltaic bracket is improved.

[0123] In this embodiment, a usage scenario is proposed: after the robotic arm grasps the photovoltaic module, the target device is adjusted to the photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located.

[0124] Step S50: If it is detected that the robotic arm drives the photovoltaic module to the area where the photovoltaic bracket is located, then control the robotic arm to install the photovoltaic module onto the photovoltaic bracket.

[0125] In one feasible embodiment, if it is detected that the robotic arm has moved the photovoltaic module to the area where the photovoltaic support is located, the robotic arm is controlled to release the photovoltaic module.

[0126] In another feasible embodiment, if it is detected that the robotic arm drives the photovoltaic module to the area where the photovoltaic bracket is located, the suction cup is controlled to release the photovoltaic module.

[0127] It is understandable that during the construction of a photovoltaic power station, photovoltaic modules need to be moved and installed onto photovoltaic brackets. Due to the large size and weight of photovoltaic modules, it is necessary to manually judge the position of the robotic arm by eye and operate the robotic arm to move and install the photovoltaic modules onto the photovoltaic brackets. However, due to the limited accuracy of visual recognition, it is easy to need to repeatedly control and adjust the robotic arm, resulting in low control efficiency of the robotic arm in moving and installing photovoltaic modules onto the photovoltaic brackets.

[0128] In this embodiment, before the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the target device is set as a photovoltaic module in the photovoltaic power station to be built; after the step of controlling the robotic arm based on the relative position information, if it is detected that the robotic arm has moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module; the target device is adjusted to a photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm drives the photovoltaic module to the area where the photovoltaic support is located; if it is detected that the robotic arm drives the photovoltaic module to the area where the photovoltaic support is located, the robotic arm is controlled to install the photovoltaic module onto the photovoltaic support. The process of transporting and installing components onto the support by the robotic arm is automated. The relative position information between the robotic arm and the target device is used as the control basis for the robotic arm, which ensures that the control process of transporting and installing components onto the support by the robotic arm is short. Therefore, the control efficiency of the process of transporting and installing components onto the support by the robotic arm is improved.

[0129] Based on the first and / or second embodiments described above, a third embodiment of the robotic arm control method of the present invention is proposed. In this embodiment, step S10, the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, includes:

[0130] Step S11: Calculate the horizontal distance between the robotic arm and the target device, and the angle between the straight line formed by the robotic arm and the target device and the preset baseline, based on the first sensor data and the second sensor data.

[0131] In one feasible embodiment, with a reference point as the origin, the first position coordinates of the robotic arm relative to the reference point are calculated based on the first sensor data, and the second position coordinates of the target device relative to the reference point are calculated based on the second sensor data. The difference between the horizontal coordinates of the first position coordinates and the second position coordinates is taken as the horizontal distance. Based on the first position coordinates and the second position coordinates, the angle between the straight line formed by the robotic arm and the target device and the preset reference line is calculated.

[0132] In one feasible embodiment, the preset baseline is a line that is pre-set as a reference standard. The preset baseline can be a line parallel to the ground or a line perpendicular to the ground.

[0133] Step S12: Calculate the first tilt angle of the robotic arm based on the first sensor data, and calculate the second tilt angle of the target device based on the second sensor data; calculate the relative tilt angle between the robotic arm and the target device based on the first tilt angle and the second tilt angle.

[0134] In one feasible embodiment, the first sensor data includes first data collected by a sensor deployed at a first position on the gripping device of the robotic arm and second data collected by a sensor deployed at a second position on the gripping device that is coplanar with the first position. Based on the first data and the second data, a first tilt angle of the gripping device on the robotic arm is calculated.

[0135] In one feasible embodiment, the second sensor data includes third data collected by a sensor deployed at a first position on the target device and fourth data collected by a sensor deployed at a second position on the target device that is coplanar with the first position. The second tilt angle of the target device is calculated based on the third data and the fourth data.

[0136] In one feasible embodiment, the difference between the first tilt angle and the second tilt angle is used as the relative tilt angle.

[0137] Step S13: Use the horizontal distance, the included angle, and the relative tilt angle as the relative position information.

[0138] In step S10, the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes:

[0139] Step S14: Calculate the horizontal distance between the robotic arm and the target device, and the vertical distance between the robotic arm and the target device, based on the first sensor data and the second sensor data.

[0140] In one feasible embodiment, the difference between the first position coordinate and the vertical coordinate and the vertical coordinate of the second position coordinate is used as the vertical distance.

[0141] Step S15: Calculate the first tilt angle of the robotic arm based on the first sensor data, and calculate the second tilt angle of the target device based on the second sensor data; calculate the relative tilt angle between the robotic arm and the target device based on the first tilt angle and the second tilt angle.

[0142] In this embodiment, the specific implementation method can be referred to the specific implementation content of step S12 above, and will not be repeated here.

[0143] Step S16: Use the horizontal distance, the vertical distance, and the relative tilt angle as the relative position information.

[0144] In this embodiment, the vertical distance or included angle, horizontal distance and relative tilt angle are used as relative position information to provide a decision basis for the control of the robotic arm, ensuring that the control process of the robotic arm moving to the location of the target device is short, thus improving the control efficiency of the robotic arm.

[0145] Based on the first, second, and / or third embodiments described above, a fourth embodiment of the robotic arm control method of the present invention is proposed. In this embodiment, the step S20 of performing vertical control, horizontal control, and tilt control of the robotic arm based on the relative position information includes:

[0146] Step S21: Detect whether the robotic arm has moved to the area where the target device is located based on the relative position information;

[0147] In one feasible embodiment, if the relative position information does not meet the preset relative position conditions, it is determined that the robotic arm has not moved to the area where the target device is located; if the relative position information meets the preset relative position conditions, it is determined that the robotic arm has moved to the area where the target device is located.

[0148] Step S22: If the robotic arm does not move to the area where the target device is located, then according to the relative position information, the robotic arm is vertically controlled, horizontally controlled, or tilted, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, until the robotic arm is detected to have moved to the area where the target device is located.

[0149] In this embodiment, it should be noted that the vertical control refers to controlling the vertical movement of the robotic arm, that is, controlling the lifting and lowering of the robotic arm. The horizontal control refers to controlling the horizontal movement of the robotic arm, that is, controlling the forward, backward, left, and right movement of the robotic arm. The tilt angle control refers to controlling the tilt angle of the gripping device.

[0150] In step S22, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0151] Step S221: Based on the relative position information, detect whether the position of the robotic arm is higher than the area where the target device is located;

[0152] It is understandable that when a robotic arm grasps an object at a high or low position using a gripping device, it may control the extension and retraction of an elastic component connected to the gripping device to bring the gripping device close to the object. If the elastic component is in a long extended state for a long time, the probability of deformation of the elastic component is high, which increases the risk of the robotic arm shaking and results in lower control safety of the robotic arm.

[0153] Step S222: If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information;

[0154] In one feasible embodiment, the relative position information includes the included angle, the preset baseline is a line perpendicular to the ground, and if the included angle is less than a preset first included angle threshold, the robotic arm is controlled to lower its height and / or the elastic component connected to the gripping device is controlled to shorten.

[0155] In another feasible embodiment, the relative position information includes the included angle, the preset baseline is a line parallel to the ground, and if the included angle is greater than a preset second included angle threshold, the robotic arm is controlled to lower its height and / or the elastic component connected to the gripping device is controlled to shorten.

[0156] In another feasible embodiment, the relative position information includes a vertical distance. If the vertical distance is greater than a preset vertical distance threshold, the robotic arm is controlled to lower its height and / or the elastic component connected to the gripping device is controlled to shorten.

[0157] Step S223: If the position of the robotic arm is not higher than the area where the target device is located, then after detecting that the horizontal control and tilt control of the robotic arm are completed, the robotic arm is vertically controlled according to the relative position information.

[0158] In step S22, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0159] Step A10: If the robotic arm is located higher than the area where the target device is located and the relative position information does not meet the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information; or...

[0160] In this embodiment, the specific implementation steps can be referred to the specific implementation method of step S222 above, and will not be repeated here.

[0161] Step A20: If the relative position information satisfies the preset relative height condition but does not satisfy the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or...

[0162] In one feasible embodiment, the relative position information includes a horizontal distance, and the robotic arm is controlled to move horizontally based on the horizontal distance.

[0163] Step A30: If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information.

[0164] In one feasible embodiment, the relative position information includes a relative tilt angle, and the tilt angle of the gripping device is adjusted according to the relative tilt angle until the relative tilt angle is less than or equal to a preset tilt angle threshold.

[0165] In step S22, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0166] Step B10: If the position of the robotic arm is not higher than the area where the target device is located and the relative position information does not meet the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or,

[0167] Step B20: If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information; or...

[0168] Step B30: If the relative position information satisfies the preset relative tilt angle condition but does not satisfy the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information.

[0169] In this embodiment, the specific implementation of steps B10 to B30 can be referred to the specific implementation steps of steps A10 to A30 above, and will not be repeated here.

[0170] It is understandable that if tilt control is performed first and then horizontal control is performed, the tilt angle may change due to the swaying of the robotic arm during the horizontal control process, resulting in lower control accuracy of the robotic arm.

[0171] In this implementation, if the robotic arm is positioned high, vertical control is performed first; if the robotic arm is positioned low, vertical control is performed last. This shortens the elastic component, mitigating the control risks caused by deformation due to the elastic component being in a prolonged extended state. By performing horizontal control first and then tilt control, the possibility of the robotic arm swaying and causing changes in tilt angle during horizontal control is avoided, thus improving control accuracy and safety.

[0172] In step S22, the step of performing vertical control, horizontal control, or tilt control on the robotic arm based on the relative position information includes:

[0173] Step C10: Obtain environmental information about the environment in which the robotic arm is located;

[0174] In this embodiment, it should be noted that the environmental information includes wind speed and / or ground conditions, and the ground conditions include whether the ground is flat or bumpy.

[0175] Step C20: Based on the relative position information, determine the control amount for vertical control, horizontal control, or tilt control of the robotic arm;

[0176] In one feasible embodiment, the control amount for vertical control of the robotic arm is determined based on the vertical distance or the included angle; the control amount for horizontal control of the robotic arm is determined based on the horizontal distance; and the control amount for tilt control of the robotic arm is determined based on the relative tilt angle.

[0177] Step C30: Generate the control speed corresponding to the control quantity based on the control quantity and the environmental information;

[0178] In one feasible embodiment, a control speed corresponding to the target control quantity is generated based on the wind speed, the ground conditions, and the target control quantity.

[0179] Understandably, when the control input is large, the ground conditions are uneven, and / or the wind speed is high, if a high control speed is used, the robotic arm is prone to swaying, resulting in lower control safety of the robotic arm.

[0180] Step C40: Control the robotic arm according to the control quantity and the control speed corresponding to each control quantity.

[0181] In one feasible embodiment, the robotic arm is vertically controlled based on the control amount for vertical control and the control speed corresponding to the control amount for vertical control; the robotic arm is horizontally controlled based on the control amount for horizontal control and the control speed corresponding to the control amount for horizontal control; and the robotic arm is tilted based on the control amount for tilt control and the control speed corresponding to the control amount for tilt control.

[0182] In this embodiment, environmental information of the environment in which the robotic arm is located is acquired; based on the relative position information, a control quantity for vertical, horizontal, or tilt control of the robotic arm is determined; based on the control quantity and the environmental information, a control speed corresponding to the control quantity is generated; based on the control quantity and the control speed corresponding to each control quantity, the robotic arm is controlled according to the control quantity. By using environmental information and control quantity as the decision basis for control speed, the risk of the robotic arm swaying when a high control speed is used, especially when the target control quantity is large, the ground is bumpy, and / or the wind speed is high, is avoided, thus improving the control safety of the robotic arm.

[0183] Based on the first, second, third, and / or fourth embodiments described above, a fifth embodiment of the robotic arm control method of the present invention is proposed. In this embodiment, the step S20 of performing vertical control, horizontal control, and tilt control of the robotic arm based on the relative position information includes:

[0184] The robotic arm control method further includes:

[0185] Step D10: If a collision risk is detected in the robotic arm during the control of the robotic arm, then the robotic arm is controlled to stop moving.

[0186] In one feasible embodiment, if a collision risk is detected during the control of the robotic arm, the height of the robotic arm is detected. If the height of the robotic arm is greater than a preset height threshold, the robotic arm is controlled to lower its height. If the height of the robotic arm is detected to be less than the preset height threshold, the robotic arm is controlled to stop moving.

[0187] In this implementation, if a collision risk is detected in the robotic arm, the robotic arm is controlled to stop moving, thereby avoiding collisions between the robotic arm and obstacles and improving the control safety of the robotic arm.

[0188] Furthermore, embodiments of the present invention also propose a robotic arm control device, referring to... Figure 3 The robotic arm control device includes:

[0189] The calculation module 10 is used to calculate the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built.

[0190] The control module 20 is used to control the robotic arm according to the relative position information so that the robotic arm moves to the area where the target device is located.

[0191] In one feasible embodiment, the control module 20 is further configured to:

[0192] Based on the relative position information, detect whether the robotic arm has moved to the area where the target device is located;

[0193] If the robotic arm does not move to the area where the target device is located, then based on the relative position information, the robotic arm is subjected to vertical control, horizontal control, or tilt control, and returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, until the robotic arm is detected to have moved to the area where the target device is located.

[0194] In one feasible embodiment, the control module 20 is further configured to:

[0195] Based on the relative position information, it is detected whether the position of the robotic arm is higher than the area where the target device is located;

[0196] If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information;

[0197] If the position of the robotic arm is not higher than the area where the target device is located, then after detecting that the horizontal and tilt control of the robotic arm has been completed, the robotic arm is vertically controlled according to the relative position information.

[0198] In one feasible embodiment, the control module 20 is further configured to:

[0199] If the robotic arm is located above the area where the target device is located and the relative position information does not meet the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information; or,

[0200] If the relative position information satisfies the preset relative height condition but does not satisfy the preset relative distance condition, then the robotic arm is horizontally controlled based on the relative position information; or...

[0201] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information.

[0202] In one feasible embodiment, the control module 20 is further configured to:

[0203] If the position of the robotic arm is not higher than the area where the target device is located and the relative position information does not meet the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or,

[0204] If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information; or,

[0205] If the relative position information satisfies the preset relative tilt angle condition but does not satisfy the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information.

[0206] In one feasible embodiment, the control module 20 is further configured to:

[0207] Obtain environmental information about the environment in which the robotic arm is located;

[0208] Based on the relative position information, determine the control amount for vertical control, horizontal control, or tilt control of the robotic arm;

[0209] Based on the control quantity and the environmental information, a control speed corresponding to the control quantity is generated;

[0210] The robotic arm is controlled according to the control quantity and the control speed corresponding to each control quantity.

[0211] In one feasible embodiment, the computing module 10 is further configured to:

[0212] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the angle between the straight line formed by the robotic arm and the target device and the preset baseline.

[0213] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0214] The horizontal distance, the included angle, and the relative tilt angle are used as the relative position information.

[0215] In one feasible embodiment, the computing module 10 is further configured to:

[0216] Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the vertical distance between the robotic arm and the target device.

[0217] Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device;

[0218] The horizontal distance, the vertical distance, and the relative tilt angle are used as the relative position information.

[0219] In one feasible embodiment, before the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the robotic arm control device further includes:

[0220] The target device is set as a photovoltaic module in the photovoltaic power station to be built;

[0221] After the step of controlling the robotic arm based on the relative position information, the robotic arm control device further includes:

[0222] If the robotic arm is detected to have moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module.

[0223] The target device is adjusted to be the photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located.

[0224] If it is detected that the robotic arm has moved the photovoltaic module to the area where the photovoltaic support is located, then the robotic arm is controlled to install the photovoltaic module onto the photovoltaic support.

[0225] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a robotic arm control program, wherein when the robotic arm control program is executed by a processor, it implements the steps of the robotic arm control method described below.

[0226] The embodiments of the robotic arm control device and computer-readable storage medium of the present invention can be referred to the embodiments of the robotic arm control method of the present invention, and will not be repeated here.

[0227] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0228] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0229] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0230] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A robotic arm control method, characterized in that, The robotic arm control method includes the following steps: The relative position information between the robotic arm and the target device is calculated based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built. Based on the relative position information, the robotic arm is controlled to move to the area where the target device is located; In the process of controlling the robotic arm according to the relative position information, if it is detected that the robotic arm has not moved to the area where the target device is located, then it is detected whether the position of the robotic arm is higher than the area where the target device is located, according to the relative position information. If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information; If the position of the robotic arm is not higher than the area where the target device is located, then the robotic arm is controlled horizontally and tilted in sequence. After the horizontal and tilting control of the robotic arm is detected to be completed, the robotic arm is controlled vertically according to the relative position information.

2. The robotic arm control method as described in claim 1, characterized in that, The step of controlling the robotic arm based on the relative position information includes: Based on the relative position information, detect whether the robotic arm has moved to the area where the target device is located; If the robotic arm does not move to the area where the target device is located, then based on the relative position information, the robotic arm is subjected to vertical control, horizontal control, or tilt control, and returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, until the robotic arm is detected to have moved to the area where the target device is located.

3. The robotic arm control method as described in claim 2, characterized in that, The step of performing vertical control, horizontal control, or tilt control of the robotic arm based on the relative position information includes: If the robotic arm is located above the area where the target device is located and the relative position information does not meet the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information; or, If the relative position information satisfies the preset relative height condition but does not satisfy the preset relative distance condition, then the robotic arm is horizontally controlled based on the relative position information; or... If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information.

4. The robotic arm control method as described in claim 2, characterized in that, The step of performing vertical control, horizontal control, or tilt control of the robotic arm based on the relative position information includes: If the position of the robotic arm is not higher than the area where the target device is located and the relative position information does not meet the preset relative distance condition, then the robotic arm is horizontally controlled according to the relative position information; or, If the relative position information satisfies the preset relative distance information but does not satisfy the preset relative tilt angle condition, then the tilt angle of the robotic arm is controlled according to the relative position information; or, If the relative position information satisfies the preset relative tilt angle condition but does not satisfy the preset relative height condition, then the robotic arm is vertically controlled according to the relative position information.

5. The robotic arm control method as described in claim 2, characterized in that, The step of performing vertical control, horizontal control, or tilt control of the robotic arm based on the relative position information includes: Obtain environmental information about the environment in which the robotic arm is located; Based on the relative position information, determine the control amount for vertical control, horizontal control, or tilt control of the robotic arm; Based on the control quantity and the environmental information, a control speed corresponding to the control quantity is generated; The robotic arm is controlled according to the control quantity and the control speed corresponding to each control quantity.

6. The robotic arm control method as described in claim 1, characterized in that, The step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes: Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the angle between the straight line formed by the robotic arm and the target device and the preset baseline. Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device; The horizontal distance, the included angle, and the relative tilt angle are used as the relative position information.

7. The robotic arm control method as described in claim 1, characterized in that, The step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built includes: Based on the data from the first sensor and the data from the second sensor, calculate the horizontal distance between the robotic arm and the target device, as well as the vertical distance between the robotic arm and the target device. Based on the first sensor data, calculate the first tilt angle of the robotic arm, and based on the second sensor data, calculate the second tilt angle of the target device, and based on the first tilt angle and the second tilt angle, calculate the relative tilt angle between the robotic arm and the target device; The horizontal distance, the vertical distance, and the relative tilt angle are used as the relative position information.

8. The robotic arm control method as described in claim 1, characterized in that, Before the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, the method further includes: The target device is set as a photovoltaic module in the photovoltaic power station to be built; After the step of controlling the robotic arm based on the relative position information, the method further includes: If the robotic arm is detected to have moved to the area where the photovoltaic module is located, the robotic arm is controlled to grab the photovoltaic module. The target device is adjusted to be the photovoltaic support in the photovoltaic power station to be built, and the process returns to the step of calculating the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built, so that the robotic arm can drive the photovoltaic module to move to the area where the photovoltaic support is located. If it is detected that the robotic arm has moved the photovoltaic module to the area where the photovoltaic support is located, then the robotic arm is controlled to install the photovoltaic module onto the photovoltaic support.

9. The robotic arm control method according to any one of claims 1 to 8, characterized in that, The robotic arm control method further includes: If a collision risk is detected during the control of the robotic arm, the robotic arm will be stopped.

10. A robotic arm control device, characterized in that, The robotic arm control device includes: The calculation module is used to calculate the relative position information between the robotic arm and the target device based on the first sensor data collected by the first sensor deployed on the robotic arm and the second sensor data collected by the second sensor deployed on the target device in the photovoltaic power station to be built. The control module is used to control the robotic arm according to the relative position information, so that the robotic arm moves to the area where the target device is located; The control module is also used for: During the process of controlling the robotic arm based on the relative position information, if it is detected that the robotic arm has not moved to the area where the target device is located, then it is detected whether the position of the robotic arm is higher than the area where the target device is located, based on the relative position information. If the position of the robotic arm is higher than the area where the target device is located, then the robotic arm is vertically controlled according to the relative position information; If the position of the robotic arm is not higher than the area where the target device is located, then the robotic arm is controlled horizontally and tilted in sequence. After the horizontal and tilting control of the robotic arm is detected to be completed, the robotic arm is controlled vertically according to the relative position information.

11. A robotic arm control device, characterized in that, The robotic arm control device includes: a memory, a processor, and a robotic arm control program stored in the memory and executable on the processor. When the robotic arm control program is executed by the processor, it implements the steps of the robotic arm control method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a robotic arm control program, which, when executed by a processor, implements the steps of the robotic arm control method as described in any one of claims 1 to 9.

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