Mechanical arm control method, device and system

Abstract

The present disclosure relates to a mechanical arm control method, device and system, the method comprising: receiving a first feeding request for a detection device group sent by a detection control device; wherein the detection device group comprises at least one detection device for detecting whether the material is a good product; according to the first feeding request, controlling the mechanical arm corresponding to the detection device to feed the detection device; receiving the material detection result of each detection device fed back by the detection control device; wherein the material detection result is reported to the detection control device by the corresponding detection device; according to the material detection result of each detection device, controlling the mechanical arm corresponding to the detection device to distinguish and unload the material detected by the detection device according to the good product and the non-good product. The present application establishes a communication connection between the mechanical arm device, the detection device and the mechanical arm respectively, so as to improve the efficiency of batch material detection.

Description

TECHNICAL FIELD

[0001] The embodiments of the present disclosure relate to the technical field of robots, and more particularly, to a robot arm control method, device and system. BACKGROUND

[0002] With the rapid development of robot technology, the application of robots in manufacturing industry is becoming more and more mature. Materials can be transported to corresponding detection equipment by a robot arm, and then the detection equipment detects the materials, so that the materials can be used as qualified products after multiple detections. In the prior art, the robot arm and each detection equipment are relatively independent. The robot arm usually needs to place the materials at a specified position, and the detection equipment starts detection work when the detection equipment identifies that there are materials at the specified position, which often affects the overall manufacturing efficiency of the materials. SUMMARY

[0003] An object of the embodiments of the present disclosure is to provide a new technical solution for robot arm control.

[0004] According to a first aspect of the present disclosure, a robot arm control method is provided, the method comprising:

[0005] receiving a first feeding request for a detection equipment group sent by a detection control device; wherein the detection equipment group comprises at least one detection equipment for detecting whether a material is a good product;

[0006] controlling a robot arm corresponding to the detection equipment to feed the detection equipment according to the first feeding request;

[0007] receiving a material detection result of each detection equipment fed by the detection control device; wherein the material detection result is reported to the detection control device by the corresponding detection equipment;

[0008] controlling the robot arm corresponding to the detection equipment to unload the material detected by the detection equipment according to the material detection result of each detection equipment, and distinguish the material as a good product or a non-good product.

[0009] Optionally, before the receiving a first feeding request for a detection equipment group sent by a detection control device, the method further comprises:

[0010] establishing a first communication connection with the detection control device; wherein the detection control device is in communication connection with each detection equipment;

[0011] establishing a second communication connection with each robot arm.

[0012] Optionally, the first communication connection and the second communication connection are both TCP / IP protocol-based connections.

[0013] Optionally, the first feeding request comprises a device number of each detection device, and the method further comprises, before the controlling the robot arm corresponding to the detection device to feed the detection device:

[0014] determining the robot arm corresponding to each detection device according to a correspondence between the device number and the robot arm number in the configuration information; wherein one robot arm corresponds to one or more detection devices.

[0015] Optionally, the method further comprises, after the controlling the robot arm corresponding to the detection device to feed the detection device:

[0016] receiving a feeding failure message about the first detection device fed back by the detection control device; wherein the feeding failure message is reported to the detection control device by the first detection device based on a set feeding failure event;

[0017] controlling an alarm device corresponding to the first robot arm to alarm according to the feeding failure message; wherein the first robot arm is the robot arm corresponding to the first detection device.

[0018] Optionally, the feeding failure event comprises at least one of the first material not being in a set first detection area and the second material being in the first detection area.

[0019] wherein the first material is the material fed by the first robot arm based on the first feeding request, and the second material is the material fed by the first robot arm based on a second feeding request; the request time of the second feeding request is before the request time of the first feeding request.

[0020] Optionally, the controlling the robot arm corresponding to the detection device to feed the detection device according to the first feeding request comprises:

[0021] determining whether the detection device is in an idle state according to the first feeding request;

[0022] controlling the robot arm corresponding to the detection device to feed the detection device in the case that the detection device is in the idle state;

[0023] Optionally, the method further comprises, after the controlling the robot arm corresponding to the detection device to feed the detection device:

[0024] updating the state of the detection device from the idle state to a working state;

[0025] Optionally, the method further comprises, after the controlling the robot arm corresponding to the detection device to distinguish and discharge the material detected by the detection device into good products and non-good products:

[0026] change the state of the detection device from the working state to the idle state.

[0027] Optionally, the method further comprises:

[0028] displaying configuration information by a display device; wherein the configuration information comprises a plurality of configuration entries, each configuration entry comprising a mechanical arm number, a device number of a detection device, and a communication address of the mechanical arm;

[0029] The method further comprises:

[0030] in response to a user's feeding control operation on a first configuration entry displayed by the display device, controlling a mechanical arm corresponding to a second detection device to feed the second detection device; wherein the first configuration entry shows the device number of the second detection device;

[0031] in response to a user's first discharging control operation on a second configuration entry displayed by the display device, controlling a mechanical arm corresponding to a third detection device to discharge the third detection device according to a good product; wherein the second configuration entry shows the device number of the third detection device;

[0032] in response to a user's second discharging control operation on a third configuration entry displayed by the display device, controlling a mechanical arm corresponding to a fourth detection device to discharge the fourth detection device according to a non-good product; wherein the third configuration entry shows the device number of the fourth detection device.

[0033] According to a second aspect of the present disclosure, a mechanical arm control device is also provided, the device comprising:

[0034] a request receiving module configured to receive a first feeding request for a detection device group sent by a detection control device; wherein the detection device group comprises at least one detection device for detecting whether a material is a good product;

[0035] a feeding control module configured to control a mechanical arm corresponding to the detection device to feed the detection device according to the first feeding request;

[0036] a result receiving module configured to receive a material detection result of each detection device fed back by the detection control device; wherein the material detection result is reported by the corresponding detection device to the detection control device;

[0037] a discharging control module configured to control a mechanical arm corresponding to the detection device to discharge the material detected by the detection device according to the material detection result of each detection device, according to a good product and a non-good product.

[0038] According to a third aspect of the present disclosure, a mechanical arm control device is also provided, comprising a memory and a processor, the memory is configured to store a computer program; the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0039] According to a fourth aspect of the present disclosure, a computer readable storage medium is also provided, the computer readable storage medium stores a computer program, the computer program, when executed by a processor, implements the method according to the first aspect of the present disclosure.

[0040] One beneficial effect of the embodiments of the present disclosure is that the mechanical arm control device can coordinate the mechanical arm to place the material on the corresponding detection device, and control the mechanical arm to retrieve the material after the detection of the detection device ends, and thus the mechanical arm control device plays a role of a bridge between the detection control device and the mechanical arm, thereby improving the overall manufacturing efficiency of the material.

[0041] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0043] Figure 1 is a schematic diagram of a mechanical arm control system according to an embodiment of the present disclosure;

[0044] Figure 2 is a flowchart of a mechanical arm control method according to an embodiment of the present disclosure;

[0045] Figure 3 is an interface diagram of display configuration information according to an embodiment of the present disclosure;

[0046] Figure 4 is a block schematic diagram of a mechanical arm control device according to an embodiment of the present disclosure;

[0047] Figure 5 is a schematic diagram of a hardware structure of a mechanical arm control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present disclosure will now be described in detail below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present disclosure, unless otherwise specifically stated.

[0049] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0050] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and apparatus should be considered as being part of the specification.

[0051] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0052] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and thus once an item is defined in one drawing, it is not necessary that it be further discussed in subsequent drawings.

[0053] <SYSTEM EMBODIMENT>

[0054] Figure 1 is a schematic diagram of a structure of a mechanical arm control system to which a mechanical arm control method according to an embodiment can be applied. As shown in Figure 1 , the system includes a mechanical arm control device 100, a plurality of mechanical arms 300, a plurality of detection devices 400, and a detection control device 200, and the system can be applied to a robot scenario.

[0055] The mechanical arm control device 100 can be a server, a personal computer, a mobile phone, a tablet, or the like, and is not limited herein. The mechanical arm control device 100 can be configured with a corresponding display device or externally connected with a corresponding display device, which is, for example, a display screen or a projector, or the like.

[0056] The mechanical arm 300 can be a collaborative mechanical arm, which has a collision stop, a function of carrying materials, or the like. Also, the collaborative mechanical arm can be multi-axis, so as to be able to perform an operation of picking up materials or placing materials, or the like. The mechanical arm 300 can also have a function of moving, that is, the mechanical arm 300 can move to a certain position and then pick up materials, or the mechanical arm 300 can move to a certain position and place picked-up materials to a designated position. The mechanical arm 300 can be in communication connection with the mechanical arm control device 100, so that the mechanical arm 300 can perform different operations based on instructions issued by the mechanical arm control device 100. The mechanical arm 300 can also feed back operation data of the mechanical arm 300 to the mechanical arm control device 100, which is, for example, current position data, current posture data, and whether or not to hold materials, or the like, so that the mechanical arm control device 100 can display the operation data of the mechanical arm 300 to a user through the display device.

[0057] The detection equipment 400 can perform one or more detections on the material. For example, the detection equipment 400 can detect whether the size of the material meets the corresponding size standard, whether the material is high-temperature resistant, whether the material is conductive, and the like, which are not limited herein.

[0058] The detection control device 200 can be a server, a personal computer, a mobile phone, a tablet, or the like, which are not limited herein. The detection control device 200 can be in communication connection with the detection equipment 400, and the detection control device 200 can be in communication connection with the mechanical arm control device 100,

[0059] In the embodiments of the present disclosure, the memory of the mechanical arm control device 100 is configured to store a computer program for controlling the processor of the mechanical arm control device 100 to operate to implement the mechanical arm 300 control method according to any embodiment. The computer program can be designed according to the scheme of the embodiments of the present disclosure. How the computer program controls the processor to operate is known in the art, and thus will not be described in detail herein.

[0060] <Method Embodiment>

[0061] Figure 2 FIG. 1 is a flowchart of a mechanical arm control method according to an embodiment. The embodiment subject, for example, is Figure 1 the mechanical arm control device 100.

[0062] As shown in Figure 2 the mechanical arm control method of the present embodiment can include the following steps S210 to S240.

[0063] In step S210, a first feeding request for a detection equipment group sent by a detection control device is received; wherein the detection equipment group includes at least one detection equipment for detecting whether the material is a good product.

[0064] In the present embodiment, the detection control device can predefine one or more detection equipment as a detection equipment group, or can define one or more detection equipment to which a detection request is sent within a certain time period as a detection equipment group. The certain time period can be 30 seconds, 2 minutes, or 1 hour, which are not limited herein.

[0065] In the present embodiment, the detection equipment in the same detection equipment group can perform the same detection on the material, or can perform different detections on the material, which are not limited herein.

[0066] In some embodiments, since the detection control device and the robot arm are independent of each other, in order to improve the response speed of the detection equipment and improve the detection efficiency of the batch material, the robot arm control device can be used as a bridge to establish communication connection with the detection control device and the robot arm respectively. Before step S210, the method further includes steps S200 and S201:

[0067] Step S200, establishing a first communication connection with the detection control device; wherein the detection control device is in communication connection with each detection equipment;

[0068] In this embodiment, the first communication connection can be a wireless communication connection relationship established by Bluetooth, wireless local area network or cellular network and the like.

[0069] In this embodiment, the communication mode of the detection control device and each detection equipment can be the same or different, for example, the detection control device and the detection equipment A and the detection equipment B are connected in communication by Bluetooth, the detection control device and the detection equipment C are connected in communication by wireless local area network, and the like, which is not limited herein.

[0070] Step S201, establishing a second communication connection with each robot arm.

[0071] In this embodiment, the second communication connection can be a wireless communication connection relationship established by Bluetooth, wireless local area network or cellular network and the like. The second communication connection can be the same as or different from the first communication connection, which is not limited herein.

[0072] In some embodiments, the first communication connection and the second communication connection are both based on TCP / IP protocol connection. Wherein, TCP / IP (Transmission Control Protocol / Internet Protocol) is transmission control protocol / internet protocol. In other words, the robot arm control device establishes communication connection with the detection control device and the robot arm based on the same protocol, so as to facilitate unified management.

[0073] Step S220, according to the first feeding request, controlling the robot arm corresponding to the detection equipment to feed the detection equipment.

[0074] In this embodiment, the feeding is that the robot arm picks up the material in a specific area or position and then places the material in the detection area of the corresponding detection equipment. Wherein, the detection equipment can detect the material in the detection area, and the specific detection process is the prior art, which is not described herein.

[0075] In some embodiments, in order to realize that the robot control device can coordinate multiple detection devices and multiple robots, the robot control device can store corresponding configuration information, which records the device numbers of the detection devices, the robot numbers of the robots, and the correspondence between the device numbers and the robot numbers. The first feeding request includes the device number of each detection device. Before step S220, the method further includes the following step S219:

[0076] In step S219, the robot corresponding to each detection device is determined according to the correspondence between the device numbers and the robot numbers in the configuration information; wherein one robot corresponds to one or more detection devices.

[0077] In some examples, the device numbers of the detection devices in the detection device group are 001, 003 and 007, the device number 001 in the configuration information corresponds to the robot number A, the device number 003 corresponds to the robot number D, and the device number 007 corresponds to the robot number D, that is, the robot control device can determine that the device number 001 corresponds to the robot number A, and the device numbers 003 and 007 correspond to the robot number D.

[0078] In some embodiments, after step S220, the method further includes the following step S221:

[0079] In step S221, a feeding failure message about the first detection device is received, which is fed back by the detection control device; wherein the feeding failure message is reported by the first detection device to the detection control device based on a set feeding failure event.

[0080] In some embodiments, the feeding failure event includes at least one of the first material not being in the set first detection area and the second material being in the first detection area; wherein the first material is the material fed by the first robot based on the first feeding request, and the second material is the material fed by the first robot based on the second feeding request; the request time of the second feeding request is before the request time of the first feeding request.

[0081] In this embodiment, the first detection area is one or more areas corresponding to the first detection device, and the first detection device can detect the material in the first detection area.

[0082] In some examples, after the robot control device controls the robot corresponding to the detection device to feed the detection device, the first detection device can identify that the first detection area has no first material or has second material, and feed back the feeding failure message to the detection control device.

[0083] Step S222, according to the feeding failure message, the first mechanical arm corresponding alarm device alarm; wherein, the first mechanical arm is corresponding to the first detection device mechanical arm.

[0084] In this embodiment, in the case that the detection control device sends the feeding failure message to the mechanical arm control device, the mechanical arm control device can send prompt information to the user through the alarm device corresponding to the first mechanical arm, so as to remind the user in a more intuitive way. Wherein, the alarm device is, for example, a loudspeaker or a warning light, etc., which is not limited here.

[0085] Step S230, receiving the detection result of each detection device fed back by the detection control device; wherein, the detection result is reported to the detection control device by the corresponding detection device.

[0086] In this embodiment, the detection result of the material can be the corresponding relationship between the device number of each detection device and the detection result of the material detected by each detection device. The detection result can include good material and non-good material.

[0087] Step S240, according to the detection result of each detection device, the mechanical arm corresponding to the detection device is controlled to distinguish the material detected by the detection device according to the good and non-good material.

[0088] In this embodiment, each detection device sets different detection areas for good and non-good materials.

[0089] In some examples, the second detection area of the first detection device is for placing the material detected as good by the first detection device, and the third detection area of the first detection device is for placing the material detected as non-good by the first detection device. In the case that the first detection device detects that the material H is good, the first detection device can place the material H to the second detection area and feed back the detection result to the detection control device, the detection control device can feed back the detection result of the first detection device to the mechanical arm control device, and the mechanical arm control device can control the first mechanical arm to grab the material H in the second detection area.

[0090] In other words, the mechanical arm control device can coordinate the mechanical arm to place the material on the corresponding detection device, and then control the mechanical arm to retrieve the material after the detection of the detection device is completed. Therefore, the mechanical arm control device plays a role of bridge between the detection control device and the mechanical arm, so as to improve the overall manufacturing efficiency of the material.

[0091] In some embodiments, step S220 can include steps S310 to S320:

[0092] Step S310, according to the first feeding request, determining whether the detection device is in idle state.

[0093] In this embodiment, the detection device can have an active state and an idle state. The detection device is in the active state when it is detecting a material, and is in the idle state when it is not detecting any material.

[0094] At step S320, if the detection device is in the idle state, the robot arm corresponding to the detection device is controlled to load the detection device.

[0095] After step S320, the method further includes step S330 of updating the state of the detection device from the idle state to the active state.

[0096] Correspondingly, after step S240, the method further includes step S340 of changing the state of the detection device from the active state to the idle state.

[0097] In some examples, the configuration information of the robot arm control device also records the state of each detection device. After the robot arm control device controls the robot arm corresponding to the first detection device to load the first detection device, the first detection device starts to detect the material G, and the state of the first detection device in the configuration information of the robot arm control device changes from the idle state to the active state. Subsequently, in the case where the robot arm control device receives the detection result of the first detection device detecting the material G as a good product fed back by the detection control device, the robot arm control device controls the robot arm of the first detection device to grab the material G in the first detection area of the first detection device, and the state of the first detection device in the configuration information of the robot arm control device changes from the active state to the idle state.

[0098] In some embodiments, the method further includes step S440:

[0099] At step S440, the configuration information is displayed by the display device; wherein the configuration information includes a plurality of configuration entries, and each configuration entry includes a robot arm number, a device number of a detection device, and a communication address of the robot arm.

[0100] In some examples, the display device can display the configuration information as shown in Figure 3 The configuration information can include an operation bar C1 and a display bar C2. The user can add a new configuration entry by selecting the "add" control, and the user can edit an existing configuration entry by selecting the "modify" control.

[0101] In some examples, the robot arm can have a plurality of clamps, each of which can correspond to a different detection device, so that Figure 3For example, configuration entry C3 shows that the robotic arm number is 01, the device number is 1, and the gripper number of the robotic arm is 1. When the robotic arm control device receives a feeding request from the detection device with the corresponding robotic arm number 01 and device number 1, the robotic arm control device controls the robotic arm with the corresponding robotic arm number 01, so that the gripper with the corresponding gripper number 1 in the robotic arm places the material into the detection device with the corresponding device number 1.

[0102] To facilitate user testing of whether each robotic arm is functioning correctly, the method further includes the following steps S450 to S470:

[0103] In step S450, in response to the user's loading control operation on the first configuration entry displayed on the display device, the robotic arm corresponding to the second detection device is controlled to load the second detection device; wherein, the first configuration entry displays the device number of the second detection device.

[0104] by Figure 3 For example, after selecting configuration item C3, the user can click the "Loading" control to perform the loading operation. The robotic arm control device can then control the robotic arm numbered 1 to load the detection device numbered 1.

[0105] In step S460, in response to the user's first unloading control operation on the second configuration entry displayed on the display device, the robotic arm corresponding to the third inspection device is controlled to unload the third inspection device as a good product; wherein, the second configuration entry displays the device number of the third inspection device.

[0106] Continue with Figure 3 For example, after selecting configuration item C3, the user can click the "OK Unloading" control for the first unloading operation. The robotic arm control device can control the robotic arm numbered 1 to unload the material on the detection device numbered 1 according to the good product standard.

[0107] In step S470, in response to the user's second unloading control operation on the third configuration entry displayed on the display device, the robotic arm corresponding to the fourth inspection device is controlled to unload non-defective products for the fourth inspection device; wherein, the third configuration entry displays the device number of the fourth inspection device.

[0108] Continue with Figure 3 For example, after selecting configuration item C3, the user can click the second unloading control operation of the "NG unloading" control. The robotic arm control device can control the robotic arm numbered 1 to unload the material on the detection device numbered 1 as a non-good product.

[0109] <Equipment Example 1>

[0110] Figure 4 is a principle block diagram of a mechanical arm control device according to an embodiment. As shown in Figure 4 , the mechanical arm control device 400 can include a request receiving module 410, a feeding control module 420, a result receiving module 430 and a discharging control module 440.

[0111] The request receiving module 410 is configured to receive a first feeding request for a detection equipment group sent by a detection control device; wherein the detection equipment group includes at least one detection equipment for detecting whether a material is a good product;

[0112] The feeding control module 420 is configured to control a mechanical arm corresponding to the detection equipment to feed the detection equipment according to the first feeding request;

[0113] The result receiving module 430 is configured to receive a material detection result of each detection equipment fed back by the detection control device; wherein the material detection result is reported to the detection control device by the corresponding detection equipment;

[0114] The discharging control module 440 is configured to control the mechanical arm corresponding to the detection equipment to discharge the material detected by the detection equipment according to the material detection result of each detection equipment, and distinguish the good product and the non-good product.

[0115] In some embodiments, the mechanical arm control device 400 further includes a communication establishing module configured to establish a first communication connection with the detection control device; wherein the detection control device is in communication connection with each detection equipment; and establish a second communication connection with each mechanical arm.

[0116] In some embodiments, the mechanical arm control device 400 further includes a mechanical arm determining module configured to determine the mechanical arm corresponding to each detection equipment according to a corresponding relationship between the equipment number and the mechanical arm number in the configuration information; wherein one mechanical arm corresponds to one or more detection equipments.

[0117] In some embodiments, the mechanical arm control device 400 further includes an alarm module configured to receive a feeding failure message about a first detection equipment fed back by the detection control device; wherein the feeding failure message is reported to the detection control device by the first detection equipment based on a set feeding failure event; and control an alarm device corresponding to a first mechanical arm to alarm according to the feeding failure message; wherein the first mechanical arm is the mechanical arm corresponding to the first detection equipment.

[0118] In some embodiments, the feeding control module 420 is further configured to determine whether the detection equipment is in an idle state according to the first feeding request; and control the mechanical arm corresponding to the detection equipment to feed the detection equipment in the case that the detection equipment is in the idle state.

[0119] The mechanical arm control device 400 further comprises a first state updating module configured to update the state of the detection device from the idle state to the working state.

[0120] The mechanical arm control device 400 further comprises a second state updating module configured to change the state of the detection device from the working state to the idle state.

[0121] In some embodiments, the mechanical arm control device 400 further comprises an information display module configured to display configuration information through the display device; wherein the configuration information comprises a plurality of configuration entries, each configuration entry comprising a mechanical arm number, a device number of the detection device, and a communication address of the mechanical arm.

[0122] The mechanical arm control device 400 further comprises an operation response module configured to, in response to a feeding control operation of a user on a first configuration entry displayed by the display device, control the mechanical arm corresponding to the second detection device to feed the second detection device; wherein the first configuration entry displays the device number of the second detection device; in response to a first discharging control operation of the user on a second configuration entry displayed by the display device, control the mechanical arm corresponding to the third detection device to discharge the third detection device according to the good product; wherein the second configuration entry displays the device number of the third detection device; in response to a second discharging control operation of the user on a third configuration entry displayed by the display device, control the mechanical arm corresponding to the fourth detection device to discharge the fourth detection device according to the non-good product; wherein the third configuration entry displays the device number of the fourth detection device.

[0123] The mechanical arm control device 400 can be the mechanical arm control device 100 in Figure 1 .

[0124] <Device Embodiment Two>

[0125] Figure 5 is a hardware structure schematic diagram of the mechanical arm control device according to another embodiment.

[0126] As shown in Figure 5 , the mechanical arm control device 500 comprises a processor 510 and a memory 520 configured to store an executable computer program, and the processor 510 is configured to execute the method of any method embodiment above according to the control of the computer program.

[0127] The mechanical arm control device 500 can be the mechanical arm control device 100 in Figure 1 .

[0128] The modules of the above mechanical arm control device 400 can be implemented by the processor 510 executing a computer program stored in the memory 520, or can be implemented by other structures, which are not limited herein.

[0129] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0130] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, a magnetically encoded device such as magnetic strip cards, an optically encoded device such as a compact disc (CD) or DVD, and / or any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0131] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0132] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0133] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0134] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0135] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0136] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0137] Embodiments of the present application have been described above, and the description is intended to be illustrative, and not restrictive, of the disclosed embodiments. Many modifications and variations of the disclosed embodiments are possible in light of the above teachings. It is therefore to be understood that within the scope of the disclosed embodiments, modifications and variations of the disclosed embodiments can be practiced. It is also to be understood that the specific order or hierarchy of steps in the processes disclosed is an illustration of exemplary processes. Based upon the description and illustrations provided herein, those skilled in the art will understand that changes can be made to the order of steps in the processes and that many of the individual steps can be modified or eliminated. Additionally, the description and illustrations provided herein are not meant to limit the scope of the disclosed embodiments. The scope of the disclosed embodiments is limited only by the claims.

Claims

1. A robot arm control method characterized by, The execution subject of the method is a mechanical arm control device, and the method comprises: receiving a first feeding request for a detection device group sent by a detection control device; wherein the detection device group comprises at least one detection device for detecting whether a material is a good product, and the detection control device is in communication connection with the mechanical arm control device; controlling a mechanical arm corresponding to the detection device to feed the detection device according to the first feeding request; receiving a material detection result of each detection device fed back by the detection control device; wherein the material detection result is reported to the detection control device by the corresponding detection device, and the material detection result fed back by the detection control device is a corresponding relationship between the device number of each detection device and the detection result of the material detected by each detection device; controlling the mechanical arm corresponding to the detection device to discharge the material detected by the detection device according to the material detection result of each detection device, and distinguishing the material into a good product and a non-good product.

2. The method of claim 1, wherein, Before the receiving a first feeding request for a detection device group sent by a detection control device, the method further comprises: establishing a first communication connection with the detection control device; wherein the detection control device is in communication connection with each detection device; establishing a second communication connection with each mechanical arm.

3. The method of claim 2, wherein, Both the first communication connection and the second communication connection are TCP / IP protocol-based connections.

4. The method of claim 1, wherein, The first feeding request comprises a device number of each detection device, and before the controlling a mechanical arm corresponding to the detection device to feed the detection device, the method further comprises: determining the mechanical arm corresponding to each detection device according to the corresponding relationship between the device number and the mechanical arm number in the configuration information; wherein one mechanical arm corresponds to one or more detection devices.

5. The method of claim 1, wherein, After the controlling a mechanical arm corresponding to the detection device to feed the detection device, the method further comprises: receiving a feeding failure message about a first detection device fed back by the detection control device; wherein the feeding failure message is reported to the detection control device by the first detection device based on a set feeding failure event; controlling an alarm device corresponding to a first mechanical arm to alarm according to the feeding failure message; wherein the first mechanical arm is the mechanical arm corresponding to the first detection device.

6. The method of claim 5, wherein, The feeding failure event comprises at least one of a first material not being in a set first detection area and a second material being in the first detection area; wherein the first material is a material fed by the first mechanical arm based on the first feeding request, and the second material is a material fed by the first mechanical arm based on a second feeding request; and the request time of the second feeding request is before the request time of the first feeding request.

7. The method according to any one of claims 1 to 6, characterized in that, The controlling a mechanical arm corresponding to the detection device to feed the detection device according to the first feeding request comprises: determining whether the detection device is in an idle state according to the first feeding request; controlling the mechanical arm corresponding to the detection device to feed the detection device in the case that the detection device is in the idle state. The control corresponds to the mechanical arm of the detection equipment, and after the detection equipment is fed, the method further comprises: updating the state of the detection equipment from an idle state to a working state; The control corresponds to the mechanical arm of the detection equipment, and after the detection equipment is fed, the method further comprises: changing the state of the detection equipment from the working state to the idle state.

8. The method of claim 7, wherein, The method further comprises: displaying configuration information through a display device; wherein the configuration information comprises a plurality of configuration entries, each configuration entry comprising a mechanical arm number, a device number of a detection equipment, and a communication address of a mechanical arm; The method further comprises: in response to a user's first feeding control operation on a first configuration entry displayed by the display device, controlling a mechanical arm corresponding to a second detection equipment to feed the second detection equipment; wherein the first configuration entry displays a device number of the second detection equipment; in response to a user's first discharging control operation on a second configuration entry displayed by the display device, controlling a mechanical arm corresponding to a third detection equipment to discharge the third detection equipment according to good products; wherein the second configuration entry displays a device number of the third detection equipment; in response to a user's second discharging control operation on a third configuration entry displayed by the display device, controlling a mechanical arm corresponding to a fourth detection equipment to discharge the fourth detection equipment according to non-good products; wherein the third configuration entry displays a device number of the fourth detection equipment.

9. A robot control device characterized by comprising: The device comprises: a request receiving module configured to receive a first feeding request for a detection equipment group sent by a detection control device; wherein the detection equipment group comprises at least one detection equipment for detecting whether a material is a good product, and the detection control device is in communication connection with the mechanical arm control device; a feeding control module configured to control a mechanical arm corresponding to the detection equipment to feed the detection equipment according to the first feeding request; a result receiving module configured to receive a material detection result of each detection equipment fed back by the detection control device; wherein the material detection result is reported by the corresponding detection equipment to the detection control device, and the material detection result fed back by the detection control device is a corresponding relationship between a device number of each detection equipment and a detection result of a material detected by each detection equipment; a discharging control module configured to control a mechanical arm corresponding to the detection equipment to discharge the detection equipment according to the material detection result of each detection equipment, and to distinguish good products and non-good products according to the material detected by the detection equipment.

10. A robot control device characterized by comprising: comprises a memory and a processor, the memory is used to store a computer program; the processor is used to execute the computer program to realize the method according to any one of claims 1 to 8.

11. A detection control system characterized by comprising: comprises the mechanical arm control device, a plurality of mechanical arms, a plurality of detection equipments, and a detection control device according to claim 9 or 10; the detection control device is in communication connection with the detection equipment, the detection control device is in communication connection with the mechanical arm control device, and the mechanical arm control device is in communication connection with the mechanical arm.

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