Automatic feeding mechanical arm control method and system

Abstract

The application discloses an automatic feeding mechanical arm control method and system, and the control method comprises the following steps: acquiring the surrounding environment state of the mechanical arm and the pedestrian state of the working area, and performing safety judgment on the surrounding environment state of the mechanical arm and the pedestrian state of the working area; when it is judged that the surrounding environment state of the mechanical arm and the pedestrian state of the working area are both safe, acquiring the automatic feeding instruction issued by an operator; controlling the mechanical arm to stretch out to reach the position of a garbage can, and to properly hold the garbage can; controlling the mechanical arm to collect the garbage can and lift and dump the garbage can, and after the garbage dumping is completed, the garbage can is sent back to the original position; and controlling the mechanical arm to automatically collect and return to the original position, and the automatic feeding is completed. The automatic feeding mechanical arm is adopted, safety monitoring of the environment and the working area is realized; meanwhile, the mechanical arm can automatically reach the position of the garbage can, the automatic garbage collection process control of the garbage can is realized, human intervention is reduced, the labor cost and the labor intensity are reduced, and the work safety is improved.

Description

Technical Field

[0001] This invention belongs to the field of sanitation vehicle technology, specifically relating to an automatic feeding robotic arm control method and system. Background Technology

[0002] With the advancement of technology, people are becoming increasingly aware of health, safety, and environmental protection, while labor costs are rising. In the era of Industry 4.0, with the further improvement of automation and intelligent control, automatic garbage bin feeding, as the most important link in the automatic collection and transportation of garbage by garbage trucks, is closest to people's lives. Achieving automatic approach, clamping, feeding, and safe collection and transportation of garbage bins has become a trend.

[0003] However, in the current sanitation industry, existing robotic arm control methods and systems are still in the stage of manual intervention, where garbage bins are placed arbitrarily and are subject to interference from environmental factors. The degree of automation is low, the operation cycle is long, and the workers have high workload and a harsh working environment. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic feeding robotic arm control method and system that can perform environmental monitoring and safe operation area identification. The robotic arm automatically and safely reaches the garbage bin position to realize the fully automated garbage collection process control of bin positioning, clamping, moving, lifting, tilting, and returning to position.

[0005] This invention provides the following technical solution:

[0006] Firstly, an automatic feeding robotic arm control method is provided, comprising: acquiring the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area, and making a safety judgment on the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area; when it is determined that the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area are both safe, acquiring an automatic feeding command issued by the operator; controlling the robotic arm to extend to the location of the trash can and straighten and hold the trash can; controlling the robotic arm to retract the trash can and lift and dump it, and after the trash dumping is completed, returning the trash can to its original position; controlling the robotic arm to automatically retract back to its original position, and the automatic feeding ends.

[0007] As a preferred technical solution of the present invention, the method for judging the safety of the surrounding environment of the robotic arm includes: obtaining the distances d1, d2, d3, d4 and d5 from the front, left, right, upper and lower sides of the gripping mechanism of the robotic arm to the obstacle; when d2+d3 is greater than the set spatial distance for gripping the trash can, and d4+d5 is greater than the set spatial distance for lifting or lowering the trash can, the surrounding environment of the robotic arm is judged to be safe.

[0008] As a preferred technical solution of the present invention, the method for safely judging the pedestrian state in the operation area includes: obtaining the moving speed of the robotic arm as v, the preset speed range v a ~vb of the pedestrian, and the change in the position distance of the pedestrian within a preset time interval; calculating the moving speed v1 of the pedestrian according to the change in the position distance of the pedestrian within the preset time interval; when the pedestrian's position is in the warning area D1 and v1 < v and v1 ∈ [v a , v b , controlling the robotic arm to send a voice prompt to the pedestrian to move away and avoid; when the pedestrian's position moves from the warning area D1 to the dangerous area D2 and v1 ≥ v and v1 > v b , controlling the robotic arm to send a voice prompt to the pedestrian to move away and avoid and pause the operation action, and continue the operation action after the pedestrian leaves the operation area; when the pedestrian's position is in the dangerous area D2, controlling the robotic arm to send a voice prompt to the pedestrian to move away and avoid and pause the operation action, and continue the operation action after the pedestrian leaves the operation area.

[0009] As a preferred technical solution of the present invention, the method for controlling the robotic arm to extend to the position where the trash can is located and straighten and hold the trash can tightly includes: controlling the robotic arm to extend, detecting interference objects in the operating range, planning the operating direction in combination with the operating habits of empirical data, and continuously calibrating the operating path according to the real-time monitoring information of the interference objects around the robotic arm, automatically avoiding the interference objects in the operating range, and reaching the position of the trash can; judging whether the grasping mechanism of the robotic arm is close to the trash can, and identifying the placement posture of the trash can during the execution of the holding process, controlling the grasping mechanism to straighten the trash can, and continuing to hold and adjust until it is finally confirmed that the trash can is held tightly.

[0010] As a preferred technical solution of the present invention, the method for controlling the robotic arm to retract the trash can and lift it for dumping, and sending the trash can back to its original position after the garbage dumping is completed includes: controlling the grasping mechanism of the robotic arm to rise first to lift the trash can off the ground, and then retracting the robotic arm to a specified position; controlling the grasping mechanism to rise to the highest point and perform the dumping action; after the dumping is completed, controlling the grasping mechanism to descend to the initial height at which the trash can leaves the ground, the robotic arm extends to the original position of the trash can, and the grasping mechanism descends until the trash can reaches the ground, and the trash can is sent back.

[0011] In a second aspect, an automatic feeding robotic arm control system is provided, including: an environmental safety monitoring unit for safely monitoring the surrounding environmental state of the robotic arm; a pedestrian protection unit for safely monitoring the pedestrian state in the operation area of the robotic arm; a robotic arm structure control unit for controlling the operation actions of the robotic arm; a central processing unit respectively connected to the environmental safety monitoring unit, the pedestrian protection unit and the robotic arm structure control unit for executing the automatic feeding robotic arm control method described in any one of the first aspect.

[0012] As a preferred embodiment of the present invention, it further includes a bin positioning and clamping judgment unit, which is communicatively connected to the central processing unit, for monitoring the placement of the trash can and the clamping situation between the gripping mechanism and the trash can, and feeding back the clamping situation to the central processing unit.

[0013] As a preferred embodiment of the present invention, it further includes a memory and learning unit, which is communicatively connected to the central processing unit. This unit is used to memorize the initial position of the trash can to ensure that the automatic return of the trash can to its original position can be executed accurately. At the same time, it forms a regional habitual algorithm based on the data collected from trash cans in the same area. When performing automatic recycling, it sends the real-time data and the habitual algorithm to the central processing unit.

[0014] As a preferred embodiment of the present invention, it further includes a feedback and diagnostic unit, which is communicatively connected to the central processing unit, for determining whether there are any abnormalities in the feedback signals of each sensor and operating mechanism, and sending the abnormal signals to the central processing unit.

[0015] As a preferred embodiment of the present invention, it further includes a display and alarm unit, which is communicatively connected to the central processing unit, for receiving instruction information from the central processing unit, displaying information and providing alarm prompts, and simultaneously sending feedback signals to the central processing unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. This invention provides an automatic feeding robotic arm control method. The control method includes: acquiring the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area, and making a safety judgment on the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area; when it is determined that the surrounding environmental conditions of the robotic arm and the pedestrian conditions in the work area are both safe, acquiring an automatic feeding command issued by the operator; controlling the robotic arm to extend to the location of the trash can and straighten and hold the trash can; controlling the robotic arm to retract the trash can and lift and dump it, and returning the trash can to its original position after dumping; controlling the robotic arm to automatically retract back to its original position, and the automatic feeding ends. Using a fully automatic feeding robotic arm, environmental monitoring and safe work area identification are achieved. The robotic arm can automatically and safely reach the trash can position to achieve fully automated control of the trash collection process, including straightening, holding, moving, lifting, dumping, and returning the trash can. This greatly reduces human intervention, reduces labor costs, reduces the labor intensity of workers, and effectively improves work safety.

[0018] 2. This invention provides an automatic feeding robotic arm control system, which includes: a central processing unit, an environmental safety monitoring unit, a pedestrian protection unit, a bin alignment and clamping judgment unit, a robotic arm structure control unit, a memory and learning unit, a feedback and diagnostic unit, and a display and alarm unit. These units work together to achieve fully automated control of the robotic arm's waste collection process, improving operational efficiency and versatility. Attached Figure Description

[0019] Figure 1 This is a configuration diagram of the control system in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the gripping mechanism in an embodiment of the present invention.

[0021] Reference numerals in the attached figures: 1. First position sensor; 2. First pressure sensor; 3. Second position sensor; 4. Second pressure sensor; 5. Third position sensor; 6. Third pressure sensor; 7. Fourth position sensor; 8. Fourth pressure sensor. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0023] Example 1

[0024] This embodiment provides a control method for an automatic feeding robotic arm, the specific steps of which are as follows:

[0025] Step 1: Obtain the surrounding environment status of the robotic arm and the pedestrian status in the work area, and make a safety assessment based on the surrounding environment status and the pedestrian status in the work area. The specific steps are as follows:

[0026] Step 1.1: Conduct a safety assessment of the surrounding environment of the robotic arm.

[0027] The distances from the front, left, right, top, and bottom sides of the robotic arm's gripping mechanism to the obstacle are d1, d2, d3, d4, and d5, respectively.

[0028] The robotic arm's gripping mechanism has one or more acoustic sensors installed on its front, left, right, top, and bottom sides to sense objects in space. These acoustic sensors can detect the distance between each side of the gripping mechanism and the obstacle.

[0029] When d2+d3 is greater than the set spatial distance for grabbing the trash can, and d4+d5 is greater than the set spatial distance for lifting or lowering the trash can, the surrounding environment of the robotic arm is deemed safe, and the next step can be performed; otherwise, it indicates that there is a safety hazard in the surrounding environment, and an alarm signal is issued.

[0030] Step 1.2: Perform a safety judgment on the pedestrian status in the operation area.

[0031] Obtain the moving speed of the robotic arm as v, the preset speed range v a ~v b of the pedestrian, and the change in the position distance of the pedestrian within a preset time interval; calculate the moving speed v1 of the pedestrian based on the change in the position distance of the pedestrian within the preset time interval.

[0032] Among them, the robotic arm is equipped with a sound wave sensor and an infrared sensor for monitoring the operation area D. The sound wave sensor divides the operation area D into a warning area D1 and a danger area D2. The infrared sensor identifies pedestrians by detecting the body temperature, and combines the positioning function of the sound wave sensor to calculate the distance of the pedestrians.

[0033] When the pedestrian's position is in the warning area D1, v1 < v, and v1 ∈ [v a , v b , control the robotic arm to issue a voice prompt to the pedestrian to stay away and avoid; when the pedestrian's position moves from the warning area D1 to the danger area D2, v1 ≥ v, and v1 > v b , control the robotic arm to issue a voice prompt to the pedestrian to stay away and avoid and pause the operation action. Wait until the pedestrian leaves the operation area and then continue the operation action. When the pedestrian's position is in the danger area D2, control the robotic arm to issue a voice prompt to the pedestrian to stay away and avoid and pause the operation action. Wait until the pedestrian leaves the operation area and then continue the operation action.

[0034] Step 2: When it is judged in Step 1 that both the surrounding environment status of the robotic arm and the pedestrian status in the operation area are safe, obtain the automatic feeding instruction issued by the operator.

[0035] Step 3: Control the robotic arm to extend to the position where the trash can is located and straighten and hold the trash can tightly. The specific steps are as follows:

[0036] Step 3.1: Control the robotic arm to extend, detect whether there are interfering objects in the operating range, plan the running direction in combination with the running habits of the empirical data, and continuously calibrate the running path according to the real-time monitoring information of the interfering objects around the robotic arm, and automatically avoid the interfering objects in the operating range to reach the position of the trash can.

[0037] Among them, the real-time monitoring information of the interfering objects around the robotic arm can be obtained through sensors such as sound wave transmission and light curtain. When the robotic arm reaches the position of the trash can, its extended distance is s1.

[0038] Step 3.2: Judge whether the grasping mechanism of the robotic arm is close to the trash can, and identify the placement posture of the trash can during the process of holding it tightly. Control the grasping mechanism to straighten the trash can, continue to hold and adjust until it is finally confirmed that the trash can is held tightly.

[0039] The gripping mechanism is equipped with a position sensor and a pressure sensor, as detailed in Example 3. The position sensor determines whether the gripping mechanism is close to the trash can; the pressure sensor and the position sensor work together to determine whether the gripping mechanism is properly aligned and secure.

[0040] Step 4: Control the robotic arm to retract the trash can and lift it to empty it. After emptying, return the trash can to its original position. The specific steps are as follows:

[0041] Step 4.1: Control the gripping mechanism of the robotic arm to raise the trash can off the ground, and then retract the robotic arm to the designated position.

[0042] The grabbing mechanism raises the trash can to a height of h above the ground.

[0043] Step 4.2: Control the gripping mechanism to rise to the highest point and perform the tilting action.

[0044] The height of the highest point of the grabbing mechanism is s2.

[0045] Step 4.3: After the dumping is completed, control the grabbing mechanism to descend to the initial height of the trash can off the ground, the robotic arm extends to the original position of the trash can, and the grabbing mechanism descends until the trash can reaches the ground and is returned to the trash can.

[0046] The grabbing mechanism descends a distance of s2-h to the initial ground clearance of the trash can. The robotic arm extends a distance of s1 to the original position of the trash can. The descent distance h brings the trash can to the ground before the grabbing mechanism is released.

[0047] Step 5: Control the robotic arm to automatically retract to its original position, and the automatic feeding ends.

[0048] The distance the robotic arm retracts is s1.

[0049] Example 2

[0050] like Figure 1 As shown, this embodiment provides an automatic feeding robotic arm control system, which is used to execute the automatic feeding robotic arm control method provided in Embodiment 1. Specifically, it includes: a central processing unit, an environmental safety monitoring unit, a pedestrian protection unit, a robotic arm structure control unit, a bucket alignment and clamping judgment unit, a memory and learning unit, a feedback and diagnostic unit, and a display and alarm unit.

[0051] The central processing unit is connected to other units and is responsible for collecting, processing, integrating algorithms, and sending instructions from each unit. It is used to execute the automatic feeding robotic arm control method provided in Example 1.

[0052] The environmental safety monitoring unit is used to conduct safety monitoring on the surrounding environmental status of the robotic arm in step 1.1 of Embodiment 1. Under the condition that the surrounding environmental status is safe, it sends a data signal to the central processing unit, and the central processing unit issues an instruction to the robotic arm structure control unit to control the operation of the robotic arm structure; when it detects that the surrounding environment is narrow and there are obstacles, it sends a data signal to the central processing unit, and the central processing unit issues an instruction to the display and alarm unit, and the display and alarm unit gives an alarm indication.

[0053] The pedestrian protection unit is used to conduct safety monitoring on the pedestrian status in the operation area of the robotic arm in step 1.2 of Embodiment 1. When a pedestrian appears in the operation area, this unit tracks the pedestrian path in real time and simultaneously sends a data signal to the central processing unit. The central processing unit controls the display and diagnosis unit to issue an alarm to the pedestrian and the operator, and the central processing unit issues a pedestrian protection instruction to suspend the operation of the robotic arm. Specifically, when the pedestrian's position is in the warning area D1 and v1 < v and v1 ∈ [v a , v b , the central processing unit controls the display and diagnosis unit to issue a voice prompt of keeping away and avoiding to the pedestrian and the operator; when the pedestrian's position moves from the warning area D1 to the danger area D2 and v1 ≥ v and v1 > v b , the central processing unit controls the display and diagnosis unit to issue a voice prompt of keeping away and avoiding to the pedestrian and the operator and suspend the operation action, and the operation action continues after the pedestrian leaves the operation area. When the pedestrian's position is in the danger area D2, the central processing unit controls the display and diagnosis unit to issue a voice prompt of keeping away and avoiding to the pedestrian and the operator and suspend the operation action, and the operation action continues after the pedestrian leaves the operation area.

[0054] The robotic arm structure control unit is used to control the operation actions of the robotic arm in steps 3, 4, and 5 of Embodiment 1. The robotic arm structure control unit is responsible for receiving the action instructions from the central processing unit, including the robotic arm extending / retracting, the robotic arm ascending / descending, the gripper mechanism opening / closing, the barrel swinging device rotating forward / backward, etc. Specifically, the robotic arm extending / retracting is used to receive the pick-up / return trash can instruction from the central processing unit to approach / retract the trash can. The robotic arm ascending / descending is used to receive the lifting / lowering instruction from the central processing unit, and through the gripper mechanism, it carries the trash can for feeding, unloading the barrel, and avoiding obstacles. The gripper mechanism opening / closing is used to receive the loose barrel / grip barrel instruction from the central processing unit to execute loosening / gripping on the trash can. The barrel swinging device rotating forward / backward is used to receive the barrel aligning instruction from the central processing unit, control the transmission mechanism of the barrel swinging device to control the forward / backward rotation of the rolling steering belt, and further drive the trash can in contact with the rolling steering belt to turn.

[0055] The bin alignment and clamping judgment unit is used to monitor the placement of the trash can and the clamping force between the grabbing mechanism and the trash can in step 3 of Example 1, and to feed back the clamping force to the central processing unit. Specifically, the robotic arm grabbing mechanism is equipped with pressure sensors and position sensors arranged according to the specifications of the trash can. The feedback signals from the sensors determine the degree of contact and clamping force between the grabbing mechanism and the trash can. At the same time, it determines whether the left and right signals of the grabbing mechanism are symmetrical and uniform, and sends the data to the central processing unit. The central processing unit sends control commands to the robotic arm structure control unit to adjust the bin-aligning device inside the grabbing mechanism, thereby adjusting the angle of the trash-holding device to achieve automatic alignment and clamping.

[0056] The memory and learning unit is used to determine the initial position of the trash can, ensuring accurate automatic return to its original position. It also forms a regional habitual algorithm based on data collected from trash cans within the same area. During automatic recycling, it sends real-time data and the habitual algorithm to the central processing unit. Specifically, in steps 3, 4, and 5 of Embodiment 1, the memory and learning unit receives the movement distance data s1, s2, and h of the robotic arm, stores the data in a data register, and sends it to the central processing unit. When the robotic arm finishes emptying the trash can, the central processing unit retrieves the register data and sends an action command to the robotic arm structure control unit. This controls the robotic arm to descend to stroke s2-h, then extends to stroke s1, and finally descends to stroke h to allow the trash can to land before releasing the gripping mechanism.

[0057] Furthermore, for habitual scenarios, such as repetitive tasks at fixed locations with fixed trash can locations, the memory and learning unit will store the data from each task at the same location in a specific storage area, and calculate the average s of similar historical data such as s1 within the storage area. 1N And take historical data and count the number of values ​​in different ranges, and use the ranges with more than 50% of the values ​​as the reference ranges. 1min ~s 1max Before each job is executed, compare the previous data s1 with the historical average s. 1N and reference interval s 1min ~s 1max To set the execution data s for this operation 1now If s 1min ≤s 1N ≤s 1max Or |s1-s 1N |≤s 1max -s 1min , making s 1now =s 1N Otherwise, let s 1now=s1. The data generated by the algorithm based on the above calculations serves as the work habits for a specific location. In addition, the memory and learning unit also has an external communication interface, which can be used to connect to external devices such as touch screens to set the work habit parameters for the work location.

[0058] The feedback and diagnostic unit is used to determine whether there are any abnormalities in the feedback signals of each sensor and operating mechanism in Embodiment 1, and sends the abnormal signals to the central processing unit. Specifically, it includes feedback on the action status of the robotic arm extension / retraction, robotic arm raising / lowering, gripping mechanism opening / closing, and the forward / reverse rolling mechanism of the bucket swinging device; and feedback on detection signals for the robotic arm fully extended / retracted, robotic arm raising / lowering, gripping mechanism opening / closing, and the forward / reverse positioning of the bucket swinging device. Combining the action status feedback and detection signal feedback, it determines whether the mechanism action is actually running, whether it is in position, and whether there is a sensor malfunction. If the feedback and diagnostic unit receives robotic arm extension action information from the robotic arm structure control unit, and simultaneously receives a change in the distance sensor data detecting the robotic arm extension / retraction cylinder, it sends a robotic arm extension action execution signal to the display and alarm unit, and the display and alarm unit outputs corresponding image, text, and audio-visual reminders; conversely, if no change in the distance sensor data detecting the robotic arm extension / retraction cylinder is received, it sends a sensor abnormality signal to the display and alarm unit, and the display and alarm unit illuminates the corresponding fault indicator icon or indicator.

[0059] The display and alarm unit receives instruction information from the central processing unit, displays information and provides alarm prompts, and simultaneously sends signals back to the central processing unit. Specifically, for example, in step 1 of embodiment 1, when the pedestrian protection unit detects a dangerous pedestrian situation, it sends a data signal to the central processing unit. The central processing unit then sends an alarm signal to the display and alarm unit, which issues an alarm instruction to remind the pedestrian to pay attention to safety.

[0060] Example 3

[0061] like Figure 2 As shown, this embodiment provides a sensor mounting structure on the robotic arm gripping mechanism, based on embodiment 2.

[0062] Specifically, an equal number of pressure sensors and position sensors are symmetrically installed on both sides of the gripping mechanism. In this embodiment, there are two pressure sensors and two position sensors on each side, and the pressure sensors and position sensors on each side are arranged alternately. From top to bottom on the left side, the sensors are arranged as follows: first position sensor 1, first pressure sensor 2, second position sensor 3, and second pressure sensor 4. From top to bottom on the right side, the sensors are arranged as follows: third position sensor 5, third pressure sensor 6, fourth position sensor 7, and fourth pressure sensor 8. The signals of the first position sensor 1, second position sensor 3, third position sensor 5, and fourth position sensor 7 are represented as Q1, Q2, Q3, and Q4, respectively. The first pressure sensor 2 and second pressure sensor 4 are on the same side, and their differences from the calibration values ​​are A1 and A2, respectively. The third pressure sensor 6 and fourth pressure sensor 8 are on the same side, and their differences from the calibration values ​​are A3 and A4, respectively.

[0063] When the grabbing mechanism comes into contact with the trash can, the various sensors will provide different feedback signals. These include:

[0064] Case 1: Q1 = Q2 = Q3 = Q4 = 1, A1 ≈ A2 ≈ A3 ≈ A4. The pressure sensor signals are symmetrical and equal, and the difference between them and their respective calibration values ​​remains within the accuracy range. Therefore, the trash can is judged to be in an upright position.

[0065] Case 2: Q1 = Q4 = 1, Q2 = Q3 = 0, A1 < A2, A3 < A4, indicating that the trash can is tilted to the right. The mechanical arm structure control unit controls the rotating belt inside the arm to rotate clockwise, which in turn causes the trash can to rotate counterclockwise. At the same time, as the rotating belt rotates, the gripping mechanism is controlled to retract at a speed of L with a PWM value, satisfying L = α2[|A1-A2|+|A3-A4|] / 2+β2.

[0066] Case 3: Q1 = Q4 = 1, Q2 = Q3 = 0, A1 > A2, A3 > A4, indicating that the trash can is tilted to the left. The straightening mechanism is controlled in the opposite direction as in Case 2.

[0067] The reasoning process for other cases is similar to that described above, and will not be repeated here.

[0068] Example 4

[0069] This embodiment, based on embodiments 1, 2, and 3, installs a robotic arm on the passenger side of a garbage compactor truck. This embodiment provides a specific implementation of an automatic feeding robotic arm, including the following steps:

[0070] Step A: Before starting the operation, the pedestrian protection unit monitors the working area D on the co-driver's side in real time. On the mounting surfaces of the robotic arm and the vehicle body, an acoustic sensor and an infrared sensor are respectively installed facing the working area. Within the sensing range of the acoustic sensor, a warning zone D1 and a danger zone D2 are defined. The working conditions are met only when the infrared sensors in both D1 and D2 do not detect pedestrians.

[0071] Step B: After the operator in the cab observes that the working conditions are met, he presses the work switch. The central processing unit receives the signal for the robotic arm to start working and sends an action command to the robotic arm structure control unit. The hydraulic cylinder of the robotic arm extension mechanism begins to extend, and the robotic arm drives the end gripping mechanism to approach the roadside trash can. At the same time, the gripping mechanism gradually opens to a ready-to-grip posture.

[0072] Step C: As the distance d between the robotic arm extending from the grabbing mechanism and the trash can decreases, the central processing unit defines the distance as d0. When d > d0, the robotic arm operates at speed v0; when d = d0, the robotic arm operates at speed v2. As the distance d from the trash can decreases, the speed decreases linearly with the relationship v = α1d + β1. At the same time, the grabbing mechanism begins to retract until the robotic arm mechanism control unit receives feedback signals from the position sensor and pressure sensor. The robotic arm then stops operating, but the grabbing mechanism continues to retract until the trash can alignment and gripping judgment unit receives pressure feedback signals from the two sets of pressure sensors and position sensors installed in the two grabbing arms of the grabbing mechanism.

[0073] Step D: After the bin alignment and gripping judgment unit determines that the bin is aligned (i.e., Q1 = Q2 = Q3 = Q4 = 1, A1 ≈ A2 ≈ A3 ≈ A4), the gripping mechanism continues to retract until Q1 = Q2 = Q3 = Q4 = 1, A1 ≈ A2 ≈ A3 ≈ A4 ≈ 0, at which point the bin is considered gripped. The central processing unit sends a bin retraction command to the robotic arm structure control unit, first controlling the robotic arm structure to rise to a height h to lift the bin off the ground. When feedback signals of distance change h from the distance sensor of the lifting / lowering cylinder or lifting time t are received... h If the signal is received, the robotic arm's telescopic cylinder will retract until a retraction detection signal is received. If the command to raise the robotic arm to a height h is executed but no feedback signal is received from the distance sensor, and t... h If the fault is reached, the feedback and diagnostic unit will determine whether the distance sensor or the robotic arm lifting actuator is faulty, and send the fault information to the display and alarm unit to display the fault information.

[0074] Step E: After the robotic arm retracts the trash can into position, the robotic arm structure control unit controls the gripping mechanism to rise to the top and perform a tilting action. After the tilting action is completed, the central processing unit reads the robotic arm extension / retraction cylinder stroke s1 and the rise / fall cylinder stroke s2 stored in the memory and learning unit when the trash can was gripped. It then sends control commands to the robotic arm structure control unit to control the gripping mechanism to descend to the rise / fall cylinder stroke s2-h, then controls the robotic arm mechanism to extend to the extension / retraction cylinder stroke s1, and finally controls the gripping mechanism to descend h, completing the trash can's memory return. Finally, the robotic arm is retracted to complete the operation.

[0075] During the operation, the environmental safety monitoring unit and the pedestrian protection unit monitor the entire process, as described in Example 2, and will not be repeated here.

[0076] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0080] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an automatic feeding robotic arm, characterized in that, include: Step 1: Obtain the surrounding environment status of the robotic arm and the pedestrian status in the work area, and make a safety judgment on the surrounding environment status of the robotic arm and the pedestrian status in the work area. The methods for assessing the safety of the robotic arm's surrounding environment include: The distances from the front, left, right, top, and bottom sides of the robotic arm's gripping mechanism to the obstacle are respectively... d 1. d 2. d 3. d 4 and d 5; Among them, one or more acoustic wave sensors for sensing spatial objects are installed on the front, left, right, upper and lower sides of the gripping mechanism of the robotic arm. The acoustic wave sensors can sense the distance between each side of the gripping mechanism and the obstacle. when d 2+ d 3 is greater than the set space distance for grabbing the trash can, and d 4+ d If the distance is greater than the set distance for lifting or lowering the trash can, the robot arm is deemed to be in a safe environment and can proceed to the next step; otherwise, it indicates that there is a safety hazard in the surrounding environment and an alarm signal is issued. Methods for assessing the safety of pedestrians in the work area include: The moving speed of the robotic arm is obtained. v Preset speed range for pedestrians v a ~ v b And the change in pedestrian position and distance within a preset time interval; The pedestrian's speed is calculated based on the change in the pedestrian's position and distance within a preset time interval. v 1; When the pedestrian is in warning zone D1 and v 1< v and v 1∈[ v a , v b When [the situation is as described], the robotic arm will issue a voice prompt to pedestrians to move away and avoid the area. When the pedestrian moves from warning zone D1 to danger zone D2 and v 1≥ v and v 1> v b When the situation is critical, the robotic arm will issue a voice prompt to the pedestrian to move away and pause its operation. The operation will resume once the pedestrian leaves the work area. When a pedestrian is in danger zone D2, the robotic arm will issue a voice prompt to the pedestrian to move away and pause the operation. The operation will resume after the pedestrian leaves the work area. Step 2: When it is determined that the surrounding environment of the robotic arm and the pedestrian situation in the work area are safe, obtain the automatic feeding command issued by the operator. Step 3: Control the robotic arm to extend and reach the location of the trash can, and straighten and hold the trash can securely. Specific methods include: Determine if the robotic arm's gripping mechanism is close to the trash can, and identify the trash can's orientation during the gripping process. Control the gripping mechanism to straighten the trash can, continue gripping and adjusting, until the trash can is finally confirmed to be gripped tightly. The gripping mechanism is equipped with an equal number of pressure sensors and position sensors on both sides. On the left side, from top to bottom, the sensors are arranged as follows: first position sensor, first pressure sensor, second position sensor, and second pressure sensor. On the right side, from top to bottom, the sensors are arranged as follows: third position sensor, third pressure sensor, fourth position sensor, and fourth pressure sensor. The position sensors determine whether the gripping mechanism is close to the trash can, and the pressure sensors and position sensors are combined to determine whether the gripping mechanism is properly positioned and secure. Step 4: Control the robotic arm to retract the trash can and lift it to empty it. After emptying the trash can, return it to its original position. Step 5: Control the robotic arm to automatically retract to its original position, and the automatic feeding process will end.

2. The automatic feeding robotic arm control method according to claim 1, characterized in that, The method of controlling the robotic arm to extend to the location of the trash can and straighten and hold the trash can also includes: The robot arm extends, detects interference within the operating range, plans its direction of travel based on operational habits and empirical data, and continuously calibrates its path based on real-time monitoring information of interference around the robot arm, automatically avoiding interference within the operating range and reaching the trash can.

3. The automatic feeding robotic arm control method according to claim 1, characterized in that, The method for controlling the robotic arm to retract and lift the trash can to empty it, and then returning the trash can to its original position after emptying includes: The gripping mechanism of the robotic arm first raises the trash can off the ground, and then retracts the robotic arm to the designated position. Control the gripping mechanism to rise to its highest point and perform a tilting action; After the dumping is completed, the grabbing mechanism is lowered to the initial height of the trash can off the ground, the robotic arm extends to the original position of the trash can, and the grabbing mechanism descends until the trash can reaches the ground and is returned to the trash can.

4. An automatic feeding robotic arm control system, characterized in that, include: An environmental safety monitoring unit is used to monitor the surrounding environment of the robotic arm for safety purposes. The pedestrian protection unit is used to monitor the status of pedestrians within the working area of ​​the robotic arm. The robotic arm structure control unit is used to control the robotic arm's operational actions; The central processing unit is connected to the environmental safety monitoring unit, the pedestrian protection unit, and the robotic arm structure control unit, respectively, and is used to execute the automatic feeding robotic arm control method according to any one of claims 1 to 3.

5. The automatic feeding robotic arm control system according to claim 4, characterized in that, It also includes a bin alignment and clamping judgment unit, which is communicatively connected to the central processing unit, for monitoring the placement of the trash can and the clamping mechanism's clamping status with the trash can, and feeding back the clamping status to the central processing unit.

6. The automatic feeding robotic arm control system according to claim 4, characterized in that, It also includes a memory and learning unit, which is communicatively connected to the central processing unit. This unit is used to memorize the initial position of the trash can to ensure that the automatic return of the trash can to its original position can be executed accurately. At the same time, it forms a regional habit algorithm based on the data collected from trash cans in the same area. When performing automatic recycling, it sends real-time data and the habit algorithm to the central processing unit.

7. The automatic feeding robotic arm control system according to claim 4, characterized in that, It also includes a feedback and diagnostic unit, which is communicatively connected to the central processing unit, for determining whether there are any abnormalities in the feedback signals of each sensor and operating mechanism, and sending the abnormal signals to the central processing unit.

8. The automatic feeding robotic arm control system according to claim 4, characterized in that, It also includes a display and alarm unit, which is communicatively connected to the central processing unit, for receiving instruction information from the central processing unit, displaying information and providing alarm prompts, and simultaneously sending feedback signals to the central processing unit.

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