A robotic arm control method and system

Abstract

The present application relates to a method and system for controlling a robotic arm, and belongs to the field of automatic control technology. The method for controlling the robotic arm includes acquiring an image of a target area and identifying a target object based on the image; acquiring the motion state of the target object; adjusting the motion state of the robotic arm according to the motion state of the target object; in response to synchronization of the motion state of the robotic arm and the motion state of the target object, maintaining the current motion state of the robotic arm, and controlling the robotic arm to perform a gripping or pushing operation on the target object. On the one hand, maintaining synchronization of the motion states of the robotic arm and the target object can reduce the impact of the robotic arm on the target object when the robotic arm contacts the target object to a certain extent. On the other hand, the robotic arm can follow the movement of the target object, so that the robotic arm and the target object are in a relatively static state, and then controlling the robotic arm to perform a gripping or pushing operation on the target object. The present application has the effect of improving the accuracy of the robotic arm in grasping or pushing the target object.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a robot arm control method and system. Background Art

[0002] A robotic arm is an automated device that replaces humans in industrial production to complete certain monotonous, frequent, and repetitive long-term tasks. It performs monitoring, grasping, handling, or tool manipulation according to set procedures, trajectories, and requirements.

[0003] Currently, robotic arms typically use control algorithms to adjust the position, speed, and force of their motion axes to push or grasp objects. However, when the object to be grasped or pushed is in motion, the robotic arm takes time to reach it. This can cause the robotic arm to miss the object and fail to make accurate contact, reducing the accuracy of the robotic arm's grasping or pushing. Summary of the Invention

[0004] In order to improve the accuracy of a robotic arm in grasping or pushing objects, the present application provides a robotic arm control method and system.

[0005] In a first aspect, the present application provides a method for controlling a robotic arm, which employs the following technical solutions:

[0006] A method for controlling a robotic arm, comprising:

[0007] Acquire an image of the target area and identify the target object based on the image;

[0008] Obtaining the motion state of the target object; the motion state includes a stationary state, a uniform motion state, a uniformly accelerated motion state, and a variable acceleration motion state;

[0009] Adjust the motion state of the robotic arm according to the motion state of the target object;

[0010] In response to the synchronization of the motion state of the robotic arm and the motion state of the target object, the current motion state of the robotic arm is maintained, and the robotic arm is controlled to perform a gripping or pushing operation on the target object.

[0011] By adopting the above technical solution, the target object to be clamped or pushed is first identified from the image of the target area in order to obtain the motion state of the target object, and the motion state of the robotic arm is adjusted according to the motion state of the target object so that the motion state of the robotic arm and the motion state of the target object are synchronized. After synchronization, the robotic arm is controlled to perform a clamping or pushing operation on the target object. On the one hand, keeping the motion states of the robotic arm and the target object synchronized can reduce the impact of the robotic arm on the target object when the robotic arm contacts the target object to a certain extent. On the other hand, the robotic arm can follow the movement of the target object, so that the robotic arm and the target object are in a relatively static state, and then the robotic arm is controlled to perform a clamping or pushing operation on the target object, thereby achieving the effect of improving the accuracy of the robotic arm in grasping or pushing the target object.

[0012] Optionally, acquiring an image of the target area and identifying the target object based on the image specifically includes:

[0013] Pre-set screening parameters for target objects;

[0014] The acquired image of the target area is input into a recognition model, basic parameters of the object in the image are extracted through the recognition model, and the basic parameters are matched with the screening parameters to output the target object in the image.

[0015] By adopting the above technical solution, the basic parameters of the objects in the image are extracted using the recognition model, and the basic parameters are matched with the pre-set screening parameters of the target objects to screen out the target objects that meet the screening parameters from all objects in the image.

[0016] Optionally, the screening parameters include one or more of object size, object type, object color, and object shape.

[0017] By adopting the above technical solution, the screening parameters are set from multiple dimensions such as object size, object type, object color and object shape, so that the target object can be identified from multiple dimensions according to actual needs.

[0018] Optionally, obtaining the motion state of the target object specifically includes:

[0019] Obtain the displacement information of the target object every unit time;

[0020] If the displacement information is all zero, the target object is in a stationary state;

[0021] If the displacement information of each adjacent unit time is the same, the target object is in a uniform motion state;

[0022] If the displacement information changes in each adjacent unit time are the same, the target object is in a state of uniform acceleration;

[0023] If the displacement information changes in each adjacent unit time are different, the target object is in variable acceleration motion.

[0024] By adopting the above technical solution, the displacement information of the target object is obtained every unit time, and the motion state of the target object can be determined through multiple groups of unique information of adjacent unit times.

[0025] Optionally, adjusting the motion state of the robotic arm according to the motion state of the target object specifically includes:

[0026] Obtain the center coordinates of the target object and the position coordinates of the robotic arm, and perform preliminary position adjustment of the robotic arm based on the center coordinates and position coordinates;

[0027] If the motion state is a stationary state, a uniformly accelerated state, or a uniformly accelerated state, in response to the position coordinates of the manipulator coinciding with the center coordinates of the target object, obtaining velocity information and acceleration information of the target object, and adjusting the motion state of the manipulator according to the velocity information and the acceleration information;

[0028] If the motion state is a variable acceleration state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, the average speed information of the target object within a preset time period is obtained in real time, and the motion state of the robotic arm is adjusted in real time according to the average speed information.

[0029] By adopting the above technical solution, after the position of the robotic arm is initially adjusted, if the motion state is static, uniformly accelerated, or uniformly accelerated, the motion state of the robotic arm is adjusted based on the velocity information and acceleration information so that the robotic arm and the target object are in a relatively static state. If the motion state is in a variable acceleration state, the motion state of the robotic arm is adjusted in real time based on the average velocity information to bring the robotic arm as close to the target object as possible, so that the robotic arm can perform a gripping or pushing operation on the target object.

[0030] Optionally, controlling the robotic arm to perform a gripping or pushing operation on the target object specifically includes:

[0031] Get the vertical distance between the robotic arm and the target object;

[0032] Generate the positioning path of the robot arm according to the current motion state and vertical distance of the robot arm;

[0033] In response to the completion of the positioning path, the robot arm is controlled to clamp or push the target object.

[0034] By adopting the above technical solution, since there is still a certain distance between the robot arm and the target object after they maintain synchronous movement, a positioning path is generated so that the robot arm can maintain a movement state consistent with the target object while approaching the target object until the robot arm is in position to clamp or push the target object.

[0035] Optionally, also include:

[0036] If the target object moves out of the target area and no gripping or pushing operation is performed, an image of the corresponding target object is sent to the management terminal.

[0037] By adopting the above technical solution, the image of the target object that moves out of the target area and does not perform the clamping or pushing operation is sent to the management terminal, so as to collect other target objects for further processing.

[0038] In a second aspect, the present application provides a robotic arm control system, which adopts the following technical solutions:

[0039] A robotic arm control system, comprising:

[0040] an image acquisition unit, configured to acquire an image of a target area and identify a target object based on the image;

[0041] A state acquisition unit is used to acquire the motion state of the target object; the motion state includes a stationary state, a uniform motion state, a uniformly accelerated motion state, and a variable acceleration motion state;

[0042] a first control unit, configured to adjust the motion state of the robotic arm according to the motion state of the target object;

[0043] The second control unit is used to control the robotic arm to perform a gripping or pushing operation on the target object in response to synchronization of the motion state of the robotic arm and the motion state of the target object.

[0044] In a third aspect, the present application provides a computer device that adopts the following technical solution:

[0045] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program according to any one of the above methods.

[0046] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0047] A computer-readable storage medium stores a computer program that can be loaded by a processor and executed in any of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flowchart of a robotic arm control method according to one embodiment of the present application.

[0049] Figure 2 This is a flow chart of a method for obtaining the motion state of a target object according to one embodiment of the present application.

[0050] Figure 3 This is a flow chart of a method for a robotic arm to grip or push a target object according to one embodiment of the present application.

[0051] Figure 4 This is a system block diagram of a robotic arm control system according to one embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0053] The present application embodiment discloses a method for controlling a robotic arm. Figure 1 , a robot arm control method, comprising:

[0054] Step S101: Acquire an image of a target area and identify a target object based on the image.

[0055] It should be noted that the image of the target area can be acquired by an image acquisition device such as a camera set on the robotic arm, and the camera can be a wide-angle camera.

[0056] Step S102: Acquire the motion state of the target object.

[0057] The motion states include static state, uniform motion state, uniformly accelerated motion state and variable acceleration motion state.

[0058] Specifically, as a possible implementation, a conveyor belt or other transport device can be used to drive the target object. In this case, the conveyor belt or other transport device can be in a stationary state, in a uniform motion, in a uniformly accelerated motion, or in a variable-acceleration motion, thereby driving the target object to move in the corresponding motion state. That is, in this embodiment, the target object is in a unidirectional, fixed motion direction.

[0059] It should be noted that the shooting direction of the image of the target area is perpendicular to the moving direction of the target object.

[0060] Step S103: adjusting the motion state of the robotic arm according to the motion state of the target object.

[0061] It should be understood that when the robotic arm faces target objects in different motion states, it is necessary to accurately judge the position when it contacts the target object. If the position is inaccurate, the robotic arm may miss the target object or touch the edge of the target object, and cannot effectively apply force to the target object. Based on the motion state of the target object, the motion state of the robotic arm is adjusted so that the position of the robotic arm is aligned with the target object. When it is necessary to apply force to the target object, it only needs to move closer to the target object.

[0062] Step S104: In response to the synchronization of the motion state of the robotic arm and the motion state of the target object, the current motion state of the robotic arm is maintained, and at the same time, the robotic arm is controlled to perform a gripping or pushing operation on the target object.

[0063] The synchronization of the motion state of the robotic arm and the motion state of the target object requires that the target object and the robotic arm remain relatively stationary, and the center coordinates of the target object coincide with the position coordinates of the robotic arm.

[0064] In the above embodiment, the target object to be clamped or pushed is first identified from the image of the target area in order to obtain the motion state of the target object, and the motion state of the robotic arm is adjusted according to the motion state of the target object so that the motion state of the robotic arm and the motion state of the target object are synchronized. After synchronization, the robotic arm is controlled to perform a clamping or pushing operation on the target object. On the one hand, keeping the motion states of the robotic arm and the target object synchronized can reduce the impact of the robotic arm on the target object when the robotic arm contacts the target object to a certain extent. On the other hand, the robotic arm can follow the movement of the target object, so that the robotic arm and the target object are in a relatively static state, and then the robotic arm is controlled to perform a clamping or pushing operation on the target object, thereby achieving the effect of improving the accuracy of the robotic arm in grasping or pushing the target object.

[0065] As an application scenario of this embodiment, the robotic arm control method can be applied in the field of logistics to sort packages. In the field of logistics, the size of the package can directly affect the efficiency and safety of the stacking, loading and transportation of the package. In addition, for packages of special shapes, such as spherical packages, rod-shaped packages, etc., special handling and loading methods may be required during transportation. Therefore, it is necessary to sort out packages of specific sizes or shapes, and execute step S101 of this embodiment to identify these packages of special shapes and sizes as target objects. In executing steps S102-S104, these target objects are grabbed or pushed to achieve sorting of these target objects.

[0066] As an implementation of step S101, step S101 specifically includes:

[0067] Step S1011: pre-set the screening parameters of the target object.

[0068] The screening parameters include one or more of object size, object type, object color, and object shape. The screening parameters are set based on multiple dimensions, such as object size, object type, object color, and object shape, to identify target objects from multiple dimensions as needed.

[0069] Step S1012: inputting the acquired image of the target area into a recognition model, extracting basic parameters of the object in the image through the recognition model, matching the basic parameters with the screening parameters, and outputting the target object in the image.

[0070] In the above embodiment, the recognition model is used to extract basic parameters of objects in the image, and the basic parameters are matched with pre-set screening parameters of the target objects to screen out target objects that meet the screening parameters from all objects in the image.

[0071] Reference Figure 2 As an implementation of step S102, step S102 specifically includes:

[0072] Step S1021: Acquire the displacement information of the target object every unit time.

[0073] As a possible implementation, the displacement information can be obtained from the image of the target area. Specifically, the coordinates of the target object in the image of the target area are obtained every unit time, and the displacement information of the target object is calculated based on the coordinates obtained twice adjacently.

[0074] Step S1022: If the displacement information is all zero, the target object is in a stationary state;

[0075] Step S1023: If the displacement information of each adjacent unit time is the same, the target object is in a uniform motion state;

[0076] Step S1024: If the displacement information changes in each adjacent unit time are the same, the target object is in a uniformly accelerated motion state;

[0077] Step S1025: If the displacement information changes in each adjacent unit time are different, the target object is in a variable acceleration motion.

[0078] In the above embodiment, the displacement information of the target object is obtained every unit time, and the motion state of the target object can be determined through multiple sets of unique information of adjacent unit times.

[0079] As an implementation of step S103, step S103 specifically includes:

[0080] Obtain the center coordinates of the target object and the position coordinates of the robotic arm, and perform preliminary position adjustment on the robotic arm based on the center coordinates and position coordinates. Specifically, the center coordinates of the target object can be obtained by analyzing the pixel grid occupied by the target object in the image. This is because if the density of the target object is uniform, the center of the target object and the center of gravity are the same point, so the center coordinates of the target object are the best point for the robotic arm to apply force. It should be understood that the center coordinates and position coordinates are both two-dimensional coordinates.

[0081] If the motion state is a stationary state, a uniformly accelerated state, or a uniformly accelerated state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, the speed information and acceleration information of the target object are obtained, and the motion state of the robotic arm is adjusted according to the speed information and acceleration information.

[0082] If the motion state is a variable acceleration state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, the average speed information of the target object within a preset time period is obtained in real time, and the motion state of the robotic arm is adjusted in real time according to the average speed information.

[0083] In the above embodiment, after the position of the robotic arm is initially adjusted, if the motion state is a stationary state, a uniformly accelerated state, or a uniformly accelerated state, the motion state of the robotic arm is adjusted based on the velocity information and acceleration information so that the robotic arm and the target object are in a relatively stationary state. If the motion state is a variable acceleration state, the motion state of the robotic arm is adjusted in real time based on the average velocity information so that the robotic arm is as close to the target object as possible, so that the robotic arm can perform a gripping or pushing operation on the target object.

[0084] Reference Figure 3 As an implementation of step S104, step S104 specifically includes:

[0085] Step S1041: Obtain the vertical distance between the robotic arm and the target object;

[0086] Specifically, the vertical distance can be measured by the distance sensor. Since the position coordinates of the robotic arm already coincide with the center coordinates of the target object, and since both the position coordinates of the robotic arm and the center coordinates of the target object are two-dimensional coordinates, the vertical distance is the vertical distance between the robotic arm and the target object in the third dimension.

[0087] Step S1042: Generate a positioning path for the robotic arm according to the current motion state and vertical distance of the robotic arm.

[0088] The positioning path is the vector sum of the direction of the current motion state of the robot arm and the direction in which the robot arm approaches the target object.

[0089] Step S1043: In response to the completion of the in-position path execution, the robotic arm is controlled to clamp or push the target object.

[0090] Specifically, in one embodiment, completion of the in-position path is determined when the robot arm moves a vertical distance in a direction close to the target object. In other embodiments, the vertical distance can be measured in real time, and completion is determined when the vertical distance is zero.

[0091] In the above embodiment, since there is still a certain distance between the robot arm and the target object after the robot arm maintains synchronous movement with the target object, a positioning path is generated so that the robot arm can maintain a movement state consistent with the target object while approaching the target object until the robot arm is in position to clamp or push the target object.

[0092] As a further implementation of the robotic arm control method, the robotic arm control method further includes:

[0093] If the target object moves out of the target area and no gripping or pushing operation is performed, an image of the corresponding target object is sent to the management terminal.

[0094] In the above embodiment, the image of the target object that has moved out of the target area and has not been gripped or pushed is sent to the management terminal so that other target objects can be collected for further processing.

[0095] In addition, an embodiment of the present application discloses a robotic arm control system. The robotic arm control system can be applied to an image processing device. In this embodiment, the computer device may include the robotic arm control system, a machine-readable storage medium, and a processor.

[0096] In this embodiment, the machine-readable storage medium and the processor may be located in a computer device and disposed separately. The machine-readable storage medium may also be independent of the computer device and accessed by the processor. The robotic arm control system may include multiple functional modules stored in the machine-readable storage medium, such as the various software functional modules included in the robotic arm control system. When the processor executes the computer programs corresponding to the software functional modules in the robotic arm control system, the robotic arm control system provided by the aforementioned method embodiment is implemented.

[0097] In this embodiment, the computer device may include one or more processors. The processor may process information and / or data related to the service request to perform one or more functions described in the present invention. In some embodiments, the processor may include one or more processing engines (e.g., a single-core processor or a multi-core processor). Just to give an example, the processor may include one or more hardware processors, such as a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, etc., or similar or any combination thereof.

[0098] A machine-readable storage medium may store data and / or instructions. In some embodiments, the machine-readable storage medium may store acquired data or information. In some embodiments, the machine-readable storage medium may store data and / or instructions for execution or use by the computer device, and the computer device may execute or use the data and / or instructions to implement the exemplary methods described herein. In some embodiments, the machine-readable storage medium may include mass storage, removable storage, volatile read-write memory, read-only memory (ROM), or similar or any combination of the above examples. Exemplary mass storage may include magnetic disks, optical disks, solid-state disks, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary random access memory may include dynamic RAM, double-speed synchronous dynamic RAM, static RAM, thyristor RAM, and zero-capacitor RAM. Exemplary ROM may include masked ROM, programmable ROM, erasable programmable ROM, electrically erasable programmable ROM, compact disk ROM, and digital versatile disk ROM.

[0099] The robotic arm control system included in the computer device may include one or more software function modules. The software function modules may be programs or instructions stored in the machine-readable storage medium, and when executed by a corresponding processor, these software function modules are used to implement the above-mentioned method, for example, when executed by a processor of a drone, they are used to implement the method steps performed by the drone, or when executed by the computer device, they are used to implement the method steps performed by the computer device.

[0100] As a further implementation of the robotic arm control system. Figure 4 , a robotic arm control system, comprising:

[0101] an image acquisition unit, configured to acquire an image of a target area and identify a target object based on the image;

[0102] A state acquisition unit is used to acquire the motion state of the target object; the motion state includes a stationary state, a uniform motion state, a uniformly accelerated motion state, and a variable acceleration motion state;

[0103] a first control unit, configured to adjust the motion state of the robotic arm according to the motion state of the target object;

[0104] The second control unit is used to control the robotic arm to perform a gripping or pushing operation on the target object in response to synchronization of the motion state of the robotic arm and the motion state of the target object.

[0105] The robotic arm control system provided in the present application can implement the above-mentioned robotic arm control method, and the specific working process of a robotic arm control system can refer to the corresponding process in the above-mentioned method embodiment.

[0106] It should be noted that, in the above embodiments, the description of each embodiment has different emphases. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] Based on the same technical concept, the present invention also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program according to any of the above methods.

[0108] The present invention also discloses a computer-readable storage medium, which includes a computer program that can be loaded by a processor and executed in any of the above methods.

[0109] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0110] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0111] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for controlling a robotic arm, characterized in that: include: Acquire an image of the target area and identify the target object based on the image; Obtaining the motion state of the target object; the motion state includes a stationary state, a uniform motion state, a uniformly accelerated motion state, and a variable acceleration motion state; adjusting the motion state of the robotic arm according to the motion state of the target object; In response to synchronization between the motion state of the robotic arm and the motion state of the target object, maintaining the current motion state of the robotic arm while controlling the robotic arm to perform a gripping or pushing operation on the target object; According to the motion state of the target object, the motion state of the robotic arm is adjusted, specifically including: Obtaining the center coordinates of the target object and the position coordinates of the robotic arm, and performing preliminary position adjustment on the robotic arm according to the center coordinates and the position coordinates; If the motion state is a stationary state or a uniformly accelerated state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, obtaining velocity information and acceleration information of the target object, and adjusting the motion state of the robotic arm according to the velocity information and acceleration information; If the motion state is a variable acceleration state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, average speed information of the target object within a preset time period is obtained in real time, and the motion state of the robotic arm is adjusted in real time according to the average speed information; Controlling the robotic arm to perform a gripping or pushing operation on the target object specifically includes: Get the vertical distance between the robotic arm and the target object; Generate the positioning path of the robot arm according to the current motion state and vertical distance of the robot arm; In response to completion of the in-position path execution, controlling the robotic arm to grip or push the target object; If the target object moves out of the target area and no gripping or pushing operation is performed, an image of the corresponding target object is sent to the management terminal.

2. The method according to claim 1, characterized in that The acquiring of an image of the target area and identifying the target object based on the image specifically includes: Pre-set screening parameters for target objects; The acquired image of the target area is input into a recognition model, basic parameters of the object in the image are extracted through the recognition model, and the basic parameters are matched with the screening parameters to output the target object in the image.

3. The method according to claim 2, characterized in that The screening parameters include one or more of object size, object type, object color, and object shape.

4. The method according to claim 1, wherein The obtaining of the motion state of the target object specifically includes: Obtain the displacement information of the target object every unit time; If the displacement information is all zero, the target object is in a stationary state; If the displacement information of each adjacent unit time is the same, the target object is in a uniform motion state; If the displacement information changes in each adjacent unit time are the same, the target object is in a uniformly accelerated motion state; If the displacement information changes in each adjacent unit time at different amplitudes, the target object is in variable acceleration motion.

5. A robotic arm control system, characterized in that: include: an image acquisition unit, configured to acquire an image of a target area and identify a target object based on the image; A state acquisition unit is used to acquire the motion state of the target object; the motion state includes a stationary state, a uniform motion state, a uniformly accelerated motion state, and a variable acceleration motion state; a first control unit, configured to adjust the motion state of the robotic arm according to the motion state of the target object; The adjusting the motion state of the robotic arm according to the motion state of the target object specifically includes: Obtaining the center coordinates of the target object and the position coordinates of the robotic arm, and performing preliminary position adjustment on the robotic arm according to the center coordinates and the position coordinates; If the motion state is a stationary state or a uniformly accelerated state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, obtaining velocity information and acceleration information of the target object, and adjusting the motion state of the robotic arm according to the velocity information and acceleration information; If the motion state is a variable acceleration state, in response to the position coordinates of the robotic arm coinciding with the center coordinates of the target object, average speed information of the target object within a preset time period is obtained in real time, and the motion state of the robotic arm is adjusted in real time according to the average speed information; a second control unit, for controlling the robotic arm to perform a gripping or pushing operation on the target object in response to synchronization of a motion state of the robotic arm and a motion state of the target object; The controlling the robotic arm to perform a gripping or pushing operation on the target object specifically includes: Get the vertical distance between the robotic arm and the target object; Generate the positioning path of the robot arm according to the current motion state and vertical distance of the robot arm; In response to completion of the in-position path execution, controlling the robotic arm to grip or push the target object; The image sending unit is configured to send an image corresponding to the target object to the management terminal if the target object moves out of the target area and no clamping or pushing operation is performed.

6. A computer device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program according to any one of the methods of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The method comprises storing a computer program capable of being loaded by a processor and executing the method according to any one of claims 1 to 4.

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