Intelligent control method, robot arm and system for ticket checking robot arm

Abstract

The present application relates to the field of manipulator control technology, and specifically to an intelligent control method, manipulator and system for a ticket checking robot arm, the method comprising: collecting the rotation angle and rotation angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment to determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment; determining the linkage action index based on the average level of the rotation deviation of each joint on the mechanical arm at all local neighboring moments at each moment, and the difference between the rotation deviations, combining the average level of the rotation angular velocity of all joint axes at each moment, determining the movement change, and then calculating the movement flexibility of the joint axes on the mechanical arm of the ticket checking robot, combining the initial proportional gain preset in the PID controller, obtaining the proportional gain revision value, and using the PID controller to control the movement of each joint on the mechanical arm of the ticket checking robot. The present application improves the ticket checking efficiency of the ticket checking robot.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to an intelligent control method, a robot arm and a system for a ticket checking robot arm. Background Art

[0002] With the development of artificial intelligence, the application of robots in life is becoming more and more common. For example, ticket checking robots. During the peak tourist season, there are often a lot of tourists stranded at the ticket gates of scenic spots. The application of ticket checking robots can greatly improve the ticket checking efficiency of scenic spots, realize highly intelligent ticket checking management, solve the real problem of "busy" manual ticket checking, and avoid waste of human and material resources.

[0003] Most of the existing technologies use PID controllers to control the arm of the ticket checking robot. The PID controller controls the movement of each joint on the arm of the ticket checking robot, so that the ticket checking robot automatically stretches out its arm, and the palm automatically opens upward and is at a comfortable height for the human body, thereby realizing the automatic ticket checking operation for tourists. However, the traditional PID controller lacks consideration of the posture convergence characteristics of the robot arm in the control of the ticket checking robot arm, and often selects a fixed proportional gain parameter to control the movement of the robot arm of the ticket checking robot, which has the disadvantage of slow error convergence speed. It often takes a long time to adjust the manipulator at the end of the robot arm to a comfortable height for the human body, resulting in poor efficiency of the ticket checking robot. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide an intelligent control method, a robotic arm and a system for a ticket checking robot arm. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides an intelligent control method for a ticket checking robot arm, comprising the following steps:

[0006] Collect the rotation angle and angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment;

[0007] Determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum value and minimum value of the rotation angle of each joint at all moments;

[0008] Based on the average level of the rotation deviation of each joint on the robot arm at all local neighboring moments of each moment, and the difference between the rotation deviations of different joints on the robot arm at all local neighboring moments of each moment, the linkage index of the joint axis on the robot arm of the ticket checking robot at each moment is determined, wherein the multiple moments with the closest time interval to each moment are recorded as the local neighboring moments of each moment;

[0009] According to the discrete degree of the linkage index of the joint axis on the mechanical arm of the ticket checking robot at all local neighboring moments at each moment, and the average level of the rotation angular velocity of all the joint axes on the mechanical arm at each moment, the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined, and the difference mean between the said movement change amounts at all two arbitrary adjacent moments is analyzed to determine the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot;

[0010] The motion flexibility is combined with the initial proportional gain preset in the PID controller to improve the proportional gain parameter in the PID controller, obtain the revised value of the proportional gain, and use the PID controller to control the movement of each joint on the mechanical arm of the ticket checking robot.

[0011] Optionally, the corresponding calculation formula for the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment is:

[0012] , where is the rotation deviation of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, is the rotation angle of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, and are the minimum rotation angle and maximum rotation angle of the jth joint on the mechanical arm of the ticket checking robot at all times, is the preset error parameter.

[0013] Optionally, the corresponding calculation formula of the linkage action index of the joint axis on the mechanical arm of the ticket checking robot at each moment is:

[0014] , where is the linkage index of the joint axis on the mechanical arm of the ticket checking robot at time t, is the number of joints on the robot arm, is the mean value of the rotation deviation of the jth joint in the rotation deviation sequence of the mechanical arm of the ticket checking robot at time t, for distance, and They are the rotation deviation sequences of the j-th and j-1-th joints on the mechanical arm of the ticket checking robot at time t, respectively. Among them, the rotation deviation degrees of the j-th joint at all local neighboring moments of time t are arranged in ascending order of time to form a rotation deviation sequence.

[0015] Optionally, the determination of the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment further includes:

[0016] Based on the discrete degree of the linkage index of the local neighboring moments at each moment, combined with the linkage index of the joint axis on the mechanical arm of the ticket checking robot at each moment, the linkage tendency degree of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined;

[0017] The movement change of the joint axis on the mechanical arm of the ticket checking robot at each moment is obtained according to the linkage tendency and the average value of the rotation angular velocity of all joint axes on the mechanical arm at each moment.

[0018] Optionally, the corresponding calculation formula for the linkage tendency degree of the joint axis on the mechanical arm of the ticket checking robot at each moment is:

[0019] , where is the linkage tendency of the joint axis on the mechanical arm of the ticket checking robot at time t, is the standard deviation of the linkage index of the local neighbors at time t at all times, is an exponential function with a natural constant as its base.

[0020] Optionally, the movement change of the joint axis on the mechanical arm of the ticket checking robot at each moment is further the product of the linkage trend degree and the mean value.

[0021] Optionally, the corresponding calculation formula for the motion flexibility of the joint axis on the mechanical arm of the ticket checking robot is:

[0022] , where The flexibility of the joint axis on the mechanical arm of the ticket checking robot. is the total number of sampling moments, are the changes in the movement of the joint axes on the mechanical arm of the ticket checking robot at time t and t-1 respectively.

[0023] Optionally, the proportional gain revision value corresponds to a calculation formula as follows:

[0024] , where is the proportional gain revision value, is the initial proportional gain preset in the PID controller, It is the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot.

[0025] In a second aspect, an embodiment of the present application provides a robotic arm, the control of which is achieved by any one of the intelligent control methods for a ticket checking robot arm.

[0026] In a third aspect, the embodiment of the present application further provides an intelligent control system for a ticket checking robot arm, comprising:

[0027] The mechanical arm rotation data acquisition module is used to collect the rotation angle and rotation angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment;

[0028] The mechanical arm rotation analysis module is used to determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum value and minimum value of the rotation angle of each joint at all moments;

[0029] Based on the average level of the rotation deviation of each joint on the robot arm at all local neighboring moments at each moment, and the difference between the rotation deviations of different joints on the robot arm at all local neighboring moments at each moment, the linkage index of the joint axis on the robot arm of the ticket checking robot at each moment is determined, wherein the local neighboring moments at each moment are multiple moments with the closest time interval to each moment;

[0030] According to the discrete degree of the linkage index of the joint axis on the mechanical arm of the ticket checking robot at all local neighboring moments at each moment, and the average level of the rotation angular velocity of all the joint axes on the mechanical arm at each moment, the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined, and the difference mean between the said movement change amounts at all two arbitrary adjacent moments is analyzed to determine the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot;

[0031] The robot arm control module is used to improve the proportional gain parameters in the PID controller by utilizing the movement flexibility in combination with the initial proportional gain preset in the PID controller, obtain the revised value of the proportional gain, and use the PID controller to control the movement of each joint on the robot arm of the ticket checking robot.

[0032] From the above, it can be seen that the intelligent control method, robot arm and system of the ticket checking robot arm provided by the present application have at least the following beneficial effects:

[0033] The present application takes into account that the proportional gain parameters in the traditional PID controller are fixed, and there is a disadvantage of slow error convergence speed when controlling the ticket checking robot arm, and it often takes a long time to adjust the manipulator at the end of the manipulator arm to a comfortable height for the human body. Therefore, the present application obtains the motion flexibility by analyzing the posture convergence characteristics of the joint axis on the manipulator arm of the ticket checking robot, and uses the motion flexibility to improve the proportional gain parameters in the traditional PID controller, thereby increasing the error convergence speed when controlling the manipulator arm and reducing the time required to adjust the manipulator at the end of the manipulator arm to a comfortable height for the human body, thereby improving the ticket checking efficiency of the ticket checking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of the steps of an intelligent control method for a ticket checking robot arm provided in this application;

[0036] Figure 2 A schematic diagram of obtaining the motion change of the joint axis on the mechanical arm of the ticket checking robot at each moment provided by the present application;

[0037] Figure 3 A system block diagram of an intelligent control system for a ticket checking robot arm provided in this application. DETAILED DESCRIPTION

[0038] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the intelligent control method, mechanical arm and system of a ticket checking robot arm proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0039] Unless otherwise specified and limited, terms such as "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a circuit structure, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such articles or devices. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the article or device including the element. In addition, the term "and\or" used herein includes any and all combinations of one or more related listed items. All technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application.

[0040] The following is a detailed description of the specific scheme of an intelligent control method for a ticket checking robot arm, a robot arm and a system provided by the present application in conjunction with the accompanying drawings.

[0041] In the first aspect, an embodiment of the present application provides an intelligent control method for a ticket checking robot arm, see Figure 1, which shows a flowchart of a method for intelligently controlling a ticket checking robot arm provided by an embodiment of the present application, comprising the following steps:

[0042] Step 1: Collect the rotation angle and angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment.

[0043] The purpose of this application is to improve the proportional gain parameters of the traditional PID controller, increase the error convergence speed when controlling the robotic arm, and reduce the time required to adjust the manipulator at the end of the robotic arm to a comfortable height for the human body, thereby improving the efficiency of ticket checking by the ticket checking robot.

[0044] For the robotic arm control of the ticket checking robot, the angle of each joint determines the posture of the end of the robotic arm, that is, it determines whether the manipulator at the end of the adjusted robotic arm is at a comfortable height for the human body. Therefore, by adjusting the angle of each joint of the robotic arm to reach the desired angle, it is possible to accurately control whether the manipulator at the end of the robotic arm is at a comfortable height for the human body.

[0045] Angle sensors and angular velocity sensors are installed on each joint of the mechanical arm of the ticket checking robot. When the ticket checking robot starts to automatically extend its mechanical arm to check tickets, the angle sensors and angular velocity sensors are used to sample the rotation angle and angular velocity of each joint on the mechanical arm to obtain the rotation angle and angular velocity of each joint on the mechanical arm at each moment. In this embodiment, the sampling frequency is 25Hz and the sampling time is 5s.

[0046] Step 2: Determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum and minimum values ​​of the rotation angle of each joint at all moments.

[0047] Since the proportional gain parameters in the traditional PID controller are fixed, there is a disadvantage of slow error convergence speed in controlling the mechanical arm of the ticket checking robot, that is, the dynamic performance of the mechanical arm control system is poor. In order to solve the problem of slow error convergence speed in the traditional PID controller in controlling the mechanical arm of the ticket checking robot, it is necessary to improve the PID parameters in the PID controller so that the ticket checking robot can quickly stretch out its arms, automatically open its palms upward and be at a comfortable height for the human body, thereby realizing automatic ticket checking operations for tourists.

[0048] Normally, when the angles of multiple joints on a robotic arm change to a large extent at the same time, it means that the linkage of the joint axes of the robotic arm is stronger. When the linkage of the joint axes of the robotic arm tends to be stable, it means to a certain extent that the angles of the joints are close to the expected angles of the joints, that is, the manipulator at the end of the robotic arm is closer to the comfortable height of the human body.

[0049] Furthermore, the greater the deviation between the rotation angles of the joint points on the robot at a certain moment, the more it can explain the linkage effect between the joint axes on the robot at this time. In order to improve the proportional gain parameters in the PID controller, it is first necessary to analyze the linkage effect between the joint axes on the robot based on the deviation changes of the angles of each joint point.

[0050] Calculate the rotation deviation of each joint on the ticket checking robot's mechanical arm at each moment:

[0051] , where is the rotation deviation of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, is the rotation angle of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, and are the minimum rotation angle and maximum rotation angle of the jth joint on the mechanical arm of the ticket checking robot at all times, To preset the error parameter and avoid the denominator being 0, in this embodiment, the error parameter is set to 0.1. The greater the difference between the rotation angle of a joint and the minimum rotation angle and the smaller the difference with the maximum rotation angle, to a certain extent, it indicates that the rotation deviation of the joint is greater at the current moment, and the more likely the joint axis linkage will occur on the mechanical arm of the ticket checking robot.

[0052] Step 3: Based on the average level of rotation deviation of each joint on the robotic arm at all local neighboring moments of each moment, and the difference between the rotation deviations of different joints on the robotic arm at all local neighboring moments of each moment, determine the linkage index of the joint axis on the robotic arm of the ticket checking robot at each moment, among which the multiple moments with the closest time interval to each moment are recorded as the local neighboring moments of each moment.

[0053] In order to further analyze the linkage between the joint axes on the robotic arm, since the linkage of the joint axes on the robotic arm of the ticket checking robot is different at different times, in order to analyze the linkage of the joint axes on the robotic arm of the ticket checking robot at different times, in this embodiment, multiple moments with the closest time intervals to each moment are taken as local neighboring moments of each moment. In this embodiment, the 20 moments with the closest time intervals to moment t are recorded as local neighboring moments of moment t. The local neighboring moments represent the moments within a local shorter time period, and are used to analyze the linkage of the joint axes on the robotic arm of the ticket checking robot at different times.

[0054] Furthermore, the rotation deviations of the j-th joint at all local neighboring moments at time t are arranged in ascending order of time, and recorded as the rotation deviation sequence of the j-th joint at time t. The rotation deviation sequence represents the deviation change of the joint rotation angle at each moment.

[0055] Generally speaking, the more similar the deviation changes between the rotation angles of different joints at a certain moment are, and the higher the average level of rotation deviations of different joints is, the stronger the linkage effect between multiple joint axes on the mechanical arm of the ticket checking robot is.

[0056] Based on the above analysis, the linkage index of the joint axis on the mechanical arm of the ticket checking robot at time t is calculated. In this embodiment, the calculation formula is specifically:

[0057] , where is the linkage index of the joint axis on the mechanical arm of the ticket checking robot at time t, is the number of joints on the robot arm, is the mean value of the rotation deviation of the jth joint in the rotation deviation sequence of the mechanical arm of the ticket checking robot at time t, for distance, and They are the rotation deviation sequences of the jth and j-1th joints on the mechanical arm of the ticket checking robot at time t. The smaller the distance and the larger the mean of the rotation deviation sequence, to a certain extent, it means that the linkage between the joint axes on the robotic arm is stronger at this time, which is more conducive to the manipulator at the end of the robotic arm approaching the comfortable height of the human body, and the greater the linkage index.

[0058] Step 4: Determine the change in motion of the joint axes on the mechanical arm of the ticket checking robot at each moment based on the discrete degree of the linkage index of the joint axes on the mechanical arm of the ticket checking robot at all local adjacent moments and the average level of the angular velocity of all the joint axes on the mechanical arm at each moment, analyze the mean difference between the said motion changes at all any two adjacent moments, and determine the motion flexibility of the joint axes on the mechanical arm of the ticket checking robot.

[0059] Normally, as the mechanical arm of the ticket checking robot continues to open, the linkage of multiple joint axes on the mechanical arm of the ticket checking robot will gradually approach a stable state. At this time, the angles of each joint approach the expected angles of each joint. The slower the speed at which the linkage of multiple joint axes approaches a stable state, and the smaller the average level of the angular velocity of each joint axis on the mechanical arm, the smaller the change in the movement of the mechanical arm of the ticket checking robot, that is, the slower the speed at which the angles of each joint of the mechanical arm approach the expected angles of each joint.

[0060] Based on the above analysis, the linkage tendency of the joint axis on the mechanical arm of the ticket checking robot at time t is calculated, and the calculation formula is:

[0061] , where is the linkage tendency of the joint axis on the mechanical arm of the ticket checking robot at time t, is the standard deviation of the linkage index of the local neighbors at time t at all times, is an exponential function with a natural constant as the base. It can be understood that the larger the linkage index at each moment and the smaller the standard deviation of the linkage index of all moments of its local neighbors, to a certain extent, it means that the linkage approaches the stable state more slowly. At this time, the linkage of the joint axis on the robot arm is still at a relatively high level, and the linkage tendency is smaller.

[0062] Based on the linkage trend characteristics of the joint axes on the mechanical arm of the ticket checking robot, and combined with the average level of the rotational angular velocity of each joint axis on the mechanical arm, the motion change amount of the joint axes on the mechanical arm of the ticket checking robot at time t is calculated. Preferably, for ease of understanding, the calculation formula of the motion change amount in this embodiment is as follows:

[0063] , where is the change in the movement of the joint axis on the mechanical arm of the ticket checking robot at time t, is the mean value of the angular velocity of all joint axes on the robot arm at time t. The change in motion reflects the changing characteristics of the motion of the ticket checking robot arm. That is, the smaller the change in motion, the smaller the characteristics of the linkage of each joint axis on the ticket checking robot arm tending to the steady state and the lower the average level of the angular velocity of all joint axes. To a certain extent, it reflects that the lower the change characteristics of the motion of the ticket checking robot arm at this time, the more unfavorable it is for the convergence of the joint angle of the ticket checking robot.

[0064] Specifically, Figure 2 As shown, it shows a schematic diagram of the process of obtaining the movement change of the joint axis on the mechanical arm of the ticket checking robot at each moment.

[0065] Generally speaking, the greater the change in the motion change on the joint axis of the robot arm, to a certain extent, it shows that the movement of the ticket checking robot is more flexible at this time, and the more conducive it is for the posture of each joint axis of the robot arm to converge to the desired state; conversely, the smaller the change in the motion change on the joint axis of the robot arm, to a certain extent, it shows that the movement flexibility of the ticket checking robot is worse at this time, and the less conducive it is for the posture of each joint axis of the robot arm to converge to the desired state. At this time, the proportional gain parameters of the PID controller need to be improved.

[0066] Based on the above analysis, the motion flexibility of the joint axis on the mechanical arm of the ticket checking robot is calculated. The specific formula is as follows:

[0067] , where The flexibility of the joint axis on the mechanical arm of the ticket checking robot. is the total number of sampling moments, is the movement change of the joint axis of the mechanical arm of the ticket checking robot at time t-1. The smaller the difference between the movement changes, the worse the movement flexibility of the ticket checking robot at this time, and the less conducive it is for the posture of each joint axis of the mechanical arm to converge to the expected state, and the smaller the movement flexibility.

[0068] Step 5: Utilize the motion flexibility in combination with the initial proportional gain preset in the PID controller to improve the proportional gain parameter in the PID controller, obtain the revised value of the proportional gain, and use the PID controller to control the motion of each joint on the mechanical arm of the ticket checking robot.

[0069] Generally, since the proportional gain parameters in the traditional PID controller are fixed, there is a disadvantage of slow error convergence when controlling the mechanical arm of the ticket checking robot. At this time, the movement flexibility of the joint axes on the mechanical arm of the ticket checking robot is too small, and the angles of each joint on the mechanical arm cannot quickly converge to the desired angles of each joint. Therefore, it is necessary to improve the proportional gain parameters in the traditional PID controller.

[0070] Based on the above analysis, the proportional gain revision value when the PID controller controls the mechanical arm of the ticket checking robot is calculated. The specific calculation formula is as follows:

[0071] , where is the revised value of proportional gain, that is, the corrected proportional gain parameter when the PID controller controls the mechanical arm of the ticket checking robot. is the initial proportional gain preset in the PID controller. In this embodiment, the initial proportional gain is 0.2. The smaller the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot, the less conducive it is for the posture of each joint axis of the mechanical arm to converge to the desired state. At this time, the proportional gain should be appropriately increased to improve the response speed of the control system so that the angles of each joint on the mechanical arm can quickly converge to the desired angles of each joint.

[0072] The movement of each joint on the mechanical arm of the ticket checking robot at the current moment is controlled by the PID controller, and the revised value of the proportional gain when the PID controller controls the mechanical arm of the ticket checking robot is used as the proportional gain parameter of the PID controller at the current moment. In this embodiment, the integral gain and differential gain preset in the PID controller are 0.3 and 0.01 respectively. The signal output by the PID controller is the control signal for the movement of each joint on the mechanical arm of the ticket checking robot at the next moment. The control signal is sent to the intelligent control system of the ticket checking robot arm to control the angles of each joint of the mechanical arm to quickly reach the desired angles.

[0073] When the angles of the joints of the robotic arm quickly reach the desired angles, the manipulator at the end of the robotic arm is at a comfortable height for the human body, and the ticket checking robot will automatically check tickets for tourists. In this embodiment, the ideal comfortable height for the human body is 1.1m.

[0074] In a second aspect, an embodiment of the present application provides a robotic arm, the control of which is achieved by any of the above-mentioned intelligent control methods for a ticket checking robot arm.

[0075] In a third aspect, the embodiment of the present application provides an intelligent control system for a ticket checking robot arm, comprising:

[0076] The mechanical arm rotation data acquisition module is used to collect the rotation angle and rotation angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment;

[0077] The mechanical arm rotation analysis module is used to determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum value and minimum value of the rotation angle of each joint at all moments;

[0078] Based on the average level of the rotation deviation of each joint on the robot arm at all local neighboring moments at each moment, and the difference between the rotation deviations of different joints on the robot arm at all local neighboring moments at each moment, the linkage index of the joint axis on the robot arm of the ticket checking robot at each moment is determined, wherein the local neighboring moments at each moment are multiple moments with the closest time interval to each moment;

[0079] According to the discrete degree of the linkage index of the joint axis on the mechanical arm of the ticket checking robot at all local neighboring moments at each moment, and the average level of the rotation angular velocity of all the joint axes on the mechanical arm at each moment, the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined, and the difference mean between the said movement change amounts at all two arbitrary adjacent moments is analyzed to determine the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot;

[0080] The robot arm control module is used to improve the proportional gain parameters in the PID controller by utilizing the movement flexibility in combination with the initial proportional gain preset in the PID controller, obtain the revised value of the proportional gain, and use the PID controller to control the movement of each joint on the robot arm of the ticket checking robot.

[0081] Specifically, Figure 3 As shown, it shows a system block diagram of an intelligent control system for a ticket checking robot arm.

[0082] It is to be understood that the sequence of the embodiments of the present application described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0083] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0084] The above content is only an implementation method of the present application and is not intended to limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the protection scope of the present application.

Claims

1. An intelligent control method for a ticket checking robot arm, characterized in that: The following steps are involved: Collect the rotation angle and angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment; Determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum value and minimum value of the rotation angle of each joint at all moments; Based on the average level of the rotation deviation of each joint on the robot arm at all local neighboring moments of each moment, and the difference between the rotation deviations of different joints on the robot arm at all local neighboring moments of each moment, the linkage index of the joint axis on the robot arm of the ticket checking robot at each moment is determined, wherein the multiple moments with the closest time interval to each moment are recorded as the local neighboring moments of each moment; According to the discrete degree of the linkage index of the joint axis on the mechanical arm of the ticket checking robot at all local neighboring moments at each moment, and the average level of the rotation angular velocity of all the joint axes on the mechanical arm at each moment, the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined, and the difference mean between the said movement change amounts at all two arbitrary adjacent moments is analyzed to determine the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot; By using the motion flexibility in combination with the initial proportional gain preset in the PID controller, the proportional gain parameter in the PID controller is improved to obtain a revised proportional gain value, and the motion of each joint on the mechanical arm of the ticket checking robot is controlled by using the PID controller; The corresponding calculation formula for the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment is: , where is the rotation deviation of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, is the rotation angle of the jth joint on the mechanical arm of the ticket checking robot at the i-th moment, and are the minimum rotation angle and maximum rotation angle of the jth joint on the mechanical arm of the ticket checking robot at all times, is the preset error parameter; The corresponding calculation formula for the linkage action index of the joint axis on the mechanical arm of the ticket checking robot at each moment is: , where is the linkage index of the joint axis on the mechanical arm of the ticket checking robot at time t, is the number of joints on the robot arm, is the mean value of the rotation deviation of the jth joint in the rotation deviation sequence of the mechanical arm of the ticket checking robot at time t, for distance, and are the rotation deviation sequences of the jth and j-1th joints on the mechanical arm of the ticket checking robot at time t, respectively. The rotation deviation degrees of the jth joint at all local neighboring moments of time t are arranged in ascending order of time to form a rotation deviation sequence; The corresponding calculation formula for the motion flexibility of the joint axis on the mechanical arm of the ticket checking robot is: , where The flexibility of the joint axis on the mechanical arm of the ticket checking robot. is the total number of sampling moments, are the movement changes of the joint axes on the mechanical arm of the ticket checking robot at time t and t-1 respectively; The corresponding calculation formula of the proportional gain revision value is: , where is the proportional gain revision value, is the initial proportional gain preset in the PID controller, It is the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot.

2. The intelligent control method of a ticket checking robot arm as claimed in claim 1, characterized in that: The determination of the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment further includes: Based on the discrete degree of the linkage index of the local neighboring moments at each moment, combined with the linkage index of the joint axis on the mechanical arm of the ticket checking robot at each moment, the linkage tendency degree of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined; The movement change of the joint axis on the mechanical arm of the ticket checking robot at each moment is obtained according to the linkage tendency and the average value of the rotation angular velocity of all joint axes on the mechanical arm at each moment.

3. The intelligent control method of a ticket checking robot arm as claimed in claim 2, characterized in that: The corresponding calculation formula for the linkage tendency degree of the joint axis on the mechanical arm of the ticket checking robot at each moment is: , where is the linkage tendency of the joint axis on the mechanical arm of the ticket checking robot at time t, is the standard deviation of the linkage index of the local neighbors at time t at all times, is an exponential function with a natural constant as its base.

4. The intelligent control method of a ticket checking robot arm as claimed in claim 2, characterized in that: The movement change of the joint axis on the mechanical arm of the ticket checking robot at each moment is further obtained by multiplying the linkage trend degree by the mean value.

5. A robotic arm, characterized in that: The control of the robotic arm is achieved by an intelligent control method for a ticket checking robot arm as described in any one of claims 1-4.

6. An intelligent control system for a ticket checking robot arm, implementing the method as claimed in claim 1, characterized in that: include: The mechanical arm rotation data acquisition module is used to collect the rotation angle and rotation angular velocity of each joint on the mechanical arm of the ticket checking robot at each moment; The mechanical arm rotation analysis module is used to determine the rotation deviation of each joint on the mechanical arm of the ticket checking robot at each moment according to the difference between the rotation angle of each joint on the mechanical arm of the ticket checking robot at each moment and the maximum value and minimum value of the rotation angle of each joint at all moments; Based on the average level of the rotation deviation of each joint on the robot arm at all local neighboring moments at each moment, and the difference between the rotation deviations of different joints on the robot arm at all local neighboring moments at each moment, the linkage index of the joint axis on the robot arm of the ticket checking robot at each moment is determined, wherein the local neighboring moments at each moment are multiple moments with the closest time interval to each moment; According to the discrete degree of the linkage index of the joint axis on the mechanical arm of the ticket checking robot at all local neighboring moments at each moment, and the average level of the rotation angular velocity of all the joint axes on the mechanical arm at each moment, the movement change amount of the joint axis on the mechanical arm of the ticket checking robot at each moment is determined, and the difference mean between the said movement change amounts at all two arbitrary adjacent moments is analyzed to determine the movement flexibility of the joint axis on the mechanical arm of the ticket checking robot; The robot arm control module is used to improve the proportional gain parameters in the PID controller by utilizing the movement flexibility in combination with the initial proportional gain preset in the PID controller, obtain the revised value of the proportional gain, and use the PID controller to control the movement of each joint on the robot arm of the ticket checking robot.

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