Intelligent control system and method for electrical equipment

Abstract

The invention relates to the technical field of electrical equipment control, and discloses an intelligent control system and method for electrical equipment, and the method comprises the steps: obtaining the height and diameter of a target object, calculating the length of a clamping jaw and the length of a sub-segment, and judging to execute a first or second grabbing strategy; and when the height of the target object is smaller than the length of the clamping jaw, whether a second grabbing strategy is executed or not is verified by calculating the difference value, if the condition is met, an electric air pump is controlled to control a sub-section in the flexible clamping jaw to be opened and clamp the target object, and in the clamping process, the clamping jaw makes complete contact with the target object by adjusting the inclination and closing-in strategy, and the target object is grabbed. And meanwhile, the auxiliary sections in the clamping jaws make contact with the bottom face of the target object, and the grabbing stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical equipment control, and in particular to an intelligent control system and method for electrical equipment. Background Art

[0002] With the continuous development of intelligent control technology, flexible grippers are increasingly used in industrial automation, logistics handling, precision assembly and other fields. Through flexible structural design and driving methods, flexible grippers can adapt to objects of different shapes and sizes, showing strong grasping adaptability and reliability.

[0003] Existing control methods for flexible grippers mostly adopt an overall drive strategy; for example, by controlling a single electric air pump to control the movements of all flexible fingers in the gripper, it can complete operations such as opening, grasping and closing. This method works better when processing relatively regular and larger target objects, but when the target object is small and irregular or the grasping process requires high precision, the flexibility and adaptability of the overall drive method are insufficient. In particular, when the finger length of the flexible gripper is significantly larger than the size of the target object, the overall drive method is difficult to achieve effective local adjustment, which can easily lead to reduced grasping stability or even grasping failure.

[0004] To this end, the present invention proposes a method of dividing each finger in the flexible gripper into multiple independently controllable sub-segments, and configuring an independent electric air pump for each sub-segment, and controlling each electric air pump separately to control the flexible gripper to perform a grasping action. This method can significantly enhance the operational flexibility of the flexible gripper. Summary of the invention

[0005] The present invention provides an intelligent control system and method for electrical equipment, which facilitates solving the problems mentioned in the above background technology.

[0006] The present invention provides the following technical solution: an intelligent control method for electrical equipment, comprising: The plane where the target object is located is recorded as the placement plane; The target object is a cylindrical object; Obtain two circular surfaces in the target object, record one of the circular surfaces in contact with the placement surface as the grasping bottom surface, and record the other circular surface as the grasping top surface; Obtain the vertical distance between the grasping top surface and the placement surface, and record it as the grasping object height; Obtain the diameter of the grasping bottom surface and record it as the target diameter; The electric air pump is controlled to control the flexible gripper to grab the target object, including: Obtain the length of each flexible finger in the flexible gripper, and record it as the gripper length; Each flexible finger is equally spaced into sub-segments, and an independently controlled electric air pump is provided for each sub-segment. The movement of each sub-segment is controlled by controlling the electric air pump, and each sub-segment is connected by a non-flexible material; Get the length of each sub-segment in each flexible finger, recorded as sub-segment length; Compare the target height to the gripper jaw length; If the height of the target object is greater than or equal to the length of the gripper, the flexible gripper is controlled to execute the first grasping strategy for the target object; If the height of the target object is less than the length of the gripper, determine whether the conditions for executing the second grasping strategy are met, including: Calculate the difference between the length of the gripper and the length of the sub-segment, and record the difference as the inspection length; Compare the inspection length with the target object height; If the inspection length is greater than or equal to the height of the target object, it is determined that the conditions for executing the second grasping strategy are met, and the second grasping strategy is executed on the target object; If the inspection length is less than the height of the target object, it is determined that the conditions for executing the second grasping strategy are not met, and the first grasping strategy is executed on the target object.

[0007] Optionally, executing a first grasping strategy on the target object includes: Obtain the axis of the target object and record it as the target axis; Control all electric air pumps to pump air, so that two flexible fingers in the flexible gripper open, and the distance between the two flexible fingers is greater than the target diameter; Obtain the ends of two flexible fingers and connect them, and record the obtained connection line as a spacing connection line; Get the midpoint of the interval line and record it as the interval midpoint; Obtaining the installation bottom surface of the flexible clamping jaw, and recording it as the clamping jaw installation surface; Control the flexible clamp to move above the target object so that the clamp installation surface is parallel to the placement surface and the midpoint of the distance coincides with the target axis; Control the flexible gripper to approach the target object and keep the midpoint of the distance coincident with the target axis; When the flexible finger end of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Control all electric air pumps to inflate, so that the two flexible fingers in the flexible gripper contract and the distance between the two flexible fingers becomes smaller; When both flexible fingers are in contact with the target object, all electric air pumps are controlled to stop inflating, completing the first grasping strategy for the target object, and controlling the flexible gripper to carry the target object to the target position.

[0008] Optionally, executing a second grasping strategy on the target object includes: Control the flexible gripper to execute the pre-grasping strategy; When the flexible gripper completes the pre-grasping strategy, the flexible gripper is controlled to perform a first tilting strategy on the target object; After executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy; After completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object; After executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy; After completing the second closing strategy, the flexible gripper is controlled to execute a straightening strategy on the target object; After completing the straightening strategy, the second grasping strategy for the target object is completed, and the flexible gripper is controlled to carry the target object to the target position.

[0009] Optionally, controlling the flexible gripper to execute a pre-grasping strategy includes: Calculate half of the target diameter and record the value as the comparison length; Get the number of sub-segments on each flexible finger in the flexible gripper, and record it as N; Compare the comparison length with the sum of the lengths of N-1 sub-segments. If the comparison length is ≥ the sum of the lengths of N-1 sub-segments, determine whether the length of one sub-segment is ≥ the height of the grasped object. If so, select N-1 sub-segments as marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-2 sub-segments. If the comparison length is ≥ the sum of the lengths of N-2 sub-segments, determine whether the lengths of the two sub-segments are ≥ the height of the grasped object. If so, select N-2 sub-segments as the marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-3 sub-segments. If the comparison length is ≥ the sum of the lengths of N-3 sub-segments, determine whether the lengths of the three sub-segments are ≥ the height of the grasped object. If so, select N-3 sub-segments as the marked sub-segments. And so on, until one sub-segment is selected as the marked sub-segment; Get the number of marked sub-segments, and record it as A; Select A sub-segments from the end of each flexible finger of the flexible gripper in turn, and use the A sub-segments as an auxiliary segment; Obtain an electric air pump that controls each sub-segment in each auxiliary segment, and record it as an auxiliary air pump; Obtain the Ath subsegment and the A+1th subsegment starting from the end of each flexible finger of the flexible gripper, and record them as the holding segment and the action segment respectively; Get the connection point between the holding segment and the action segment, and record it as the connection position; A connection position of any flexible finger is recorded as a first connection position, and another connection position is recorded as a second connection position; The area surrounded by the flexible fingers of the flexible gripper is recorded as the inner area, and the other areas outside the inner area are recorded as the outer area; Control all electric air pumps to pump air so that the two flexible fingers in the flexible gripper open, and when the distance between the flexible fingers is greater than the target diameter, control all electric air pumps to stop pumping air; The auxiliary air pump is controlled to pump air until the auxiliary section opens to the maximum limit, completing the pre-grabbing strategy.

[0010] Optionally, after the flexible gripper completes the pre-grasping strategy, controlling the flexible gripper to execute a first tilting strategy on the target object includes: Control the flexible clamp to move to the top of the target object so that the projection of the inner area perpendicular to the placement surface completely covers the target object, and the target object is located at the center of the projection of the inner area perpendicular to the placement surface; Control the flexible gripper to approach the target object and keep the target object at the center position of the projection downward perpendicular to the placement surface in the inner area; When the connection position of the flexible fingers of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Controlling other electric air pumps except the auxiliary air pump to inflate, so that the flexible fingers in the flexible gripper contract and the distance between the flexible fingers becomes smaller; When all the flexible fingers are in contact with the target object, other electric air pumps except the auxiliary air pump are controlled to stop inflating; Get the length of the auxiliary segment and record it as V; Control the flexible clamp to hold the target object and rotate it around the first connection position so that the bottom surface of the target object is separated from the placement surface, and monitor the vertical distance between the second connection position and the placement surface during the rotation process, and record it as the second distance; When the second distance is greater than V, the flexible clamp is controlled to stop moving, completing the first tilting strategy.

[0011] Optionally, after executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy includes: The flexible finger where the second connection position is located is recorded as the second finger, and the auxiliary segment located on the second finger is obtained and recorded as the second auxiliary segment; Obtain all auxiliary air pumps corresponding to the second auxiliary segment and record them as second auxiliary air pumps; All second auxiliary air pumps are controlled to inflate, so that the second auxiliary segments are in full contact with the grasping bottom surface of the target object, thereby completing the first closing strategy.

[0012] Optionally, after completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object includes: Get the length of the auxiliary segment and record it as V; Controlling the flexible clamping claw to hold the target object and rotate around the first connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the second connection position contacts the placement surface, the flexible clamping claw is controlled to stop rotating around the first connection position; Control the flexible clamp to hold the target object and rotate it around the second connection position, so that the distance between the bottom surface of the target object and the placement surface gradually increases, and monitor the vertical distance between the first connection position and the placement surface during the rotation process, and record it as the first distance; When the first distance is greater than V, the flexible clamp is controlled to stop moving, completing the second tilting strategy.

[0013] Optionally, after executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy includes: The flexible finger where the first connection position is located is recorded as the first finger, and the auxiliary segment located on the first finger is obtained and recorded as the first auxiliary segment; Obtain all auxiliary air pumps corresponding to the first auxiliary segment and record them as first auxiliary air pumps; All first auxiliary air pumps are controlled to inflate, so that the first auxiliary section is in full contact with the grasping bottom surface of the target object, thereby completing the second closing strategy.

[0014] Optionally, after completing the second closing strategy, controlling the flexible clamp to execute a straightening strategy on the target object includes: Controlling the flexible clamping claw to hold the target object and rotate around the second connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the bottom surface of the target object is parallel to the placement surface, the flexible clamp is controlled to stop rotating around the second connection position, completing the rotation strategy.

[0015] A system for implementing the intelligent control method for electrical equipment, comprising: Flexible gripper: comprising two flexible fingers, each of which is composed of sub-segments, each of which can be controlled independently; Electric air pump: used to evacuate or inflate the sub-segment, and control the sub-segment to open or contract; Distance measurement module: obtains the distance between the connection position and the placement surface; Data comparison module: used to compare the numerical values ​​of data.

[0016] The present invention has the following beneficial effects: 1. By dividing the flexible fingers into multiple sub-segments and configuring an independent electric air pump for each sub-segment, the flexible gripper can accurately control the movement of each sub-segment; this segmented control enables the flexible gripper to flexibly adjust the grasping strategy according to the size and shape of the target object when grasping the target object; by dynamically adjusting the opening or contraction state of each sub-segment, the flexible gripper can not only grasp target objects with regular shapes, but also adapt to objects with complex shapes and different sizes, thereby greatly improving the versatility of the equipment; in addition, independent segmented control avoids the grasping failure problem caused by the mismatch between the height of the target object and the length of the flexible gripper, and improves the success rate of grasping.

[0017] 2. By comparing the height of the target object with the total length of the flexible fingers, the first grasping strategy or the second grasping strategy is selected according to the difference; this scheme ensures that the flexible gripper can directly grasp the target object stably when the height is large, and when the height of the target object is small, stable grasping is achieved through steps such as tilting and closing; this design not only ensures grasping stability, but also effectively improves grasping efficiency, and is especially suitable for grasping objects of different heights, such as logistics handling, production line sorting, etc.; by flexibly switching grasping strategies, it also reduces the grasping time delay caused by differences in the characteristics of the target object, thereby improving the overall work efficiency of the equipment.

[0018] 3. By controlling the opening and contraction of the flexible gripper fingers, precise positioning is ensured when the finger tips come into contact with the placement surface. Combining the target object axis and the midpoint alignment strategy of the flexible gripper, the relative position of the gripper and the target object can be precisely adjusted. The finger movements are synchronized and coordinated through independently controlled electric air pumps to ensure that the flexible gripper can stably grasp the target object and move it to the designated location. This solution improves the adaptability of the flexible gripper to the size and position of the target object during the grasping process, and optimizes the accuracy and stability of the grasping.

[0019] 4. By selecting the number of sub-segments of the flexible fingers according to the target diameter, an appropriate number of sub-segments are controlled as auxiliary segments; this design enables the flexible gripper to dynamically adjust the grasping range according to the actual size of the target object, avoiding the problem of over-grasping or under-grasping; this strategy enables the flexible gripper to accurately grasp the target object, and at the same time, makes the length of the selected auxiliary segment more suitable for the target object, so that during the grasping process, after executing the closing strategy, the auxiliary segment can wrap the bottom surface of the target object to the maximum extent, and at the same time, the auxiliary segment will not overlap, ensuring the reliability of the grasping, and also ensuring that after grasping the target object, the bottom surface of the target object will not be tilted due to the squeezing caused by the overlapping of the auxiliary segments, so that the bottom surface of the target object can remain parallel to the placement surface after grasping, thereby ensuring that when the target object needs to be released later, it can be released stably.

[0020] 5. Through the segmented control of sub-segments, the selection of marked sub-segments and the independent operation of auxiliary segments, the optimal configuration and enhanced adaptability of the flexible gripper resources in the grasping process are achieved; in addition, by comparing the target diameter and the length of the flexible gripper sub-segments in segments, the grasping requirements are effectively matched to ensure that the grasping range of the gripper fully wraps the target object while avoiding excessive energy consumption; the two flexible fingers in the flexible gripper are controlled to open so that the distance between the flexible fingers is greater than the target diameter, ensuring that sufficient gaps can be formed between the flexible grippers, so as to smoothly dock the target object and complete the grasping preparation; controlling the auxiliary segment to open to the maximum extent can ensure that the flexible gripper will not conflict with the placement surface when grasping the target object downward, allowing other sub-segments outside the auxiliary segment to fully contact the target object, thereby ensuring the stability of grasping.

[0021] 6. Through the first tilting strategy and the second tilting strategy, the posture of the target object can be effectively adjusted through multiple step-by-step rotations, and the vertical distance between the connection position and the placement surface can be monitored during the tilting process, so as to ensure that after the tilting strategy is completed, the auxiliary section in the flexible clamp has enough space to shrink until it contacts the bottom surface of the target object; secondly, through the first closing strategy and the second closing strategy, the auxiliary section contacts the bottom surface of the target object, thereby enhancing the clamping stability and avoiding the slippage or loosening of the target object during subsequent handling, effectively improving the accuracy of grasping and adjustment.

[0022] 7. In the straightening strategy, the flexible gripper rotates around the connection position so that the bottom surface of the target object is finally parallel to the placement surface; this design can quickly complete the posture adjustment after the target object is grasped, so that the target object is in a stable handling state, thereby reducing the risk of shaking or tipping during transportation; this operation improves the degree of automation of the entire grasping process, which is particularly important in high-precision handling scenarios, and can effectively improve the stability and reliability of industrial automation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the target object of the present invention.

[0024] Figure 2 It is a schematic diagram of the flexible clamp of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1, an intelligent control method for electrical equipment, comprising: Reference Figure 1 , the plane where the target object is located is recorded as the placement surface; The target object is a cylindrical object; Obtain two circular surfaces in the target object, record one of the circular surfaces in contact with the placement surface as the grasping bottom surface, and record the other circular surface as the grasping top surface; Obtain the vertical distance between the grasping top surface and the placement surface, and record it as the grasping object height; Obtain the diameter of the grasping bottom surface and record it as the target diameter; The electric air pump is controlled to control the flexible gripper to grab the target object, including: Reference Figure 2 , obtain the length of each flexible finger in the flexible gripper, and record it as the gripper length; Each flexible finger is divided into sub-segments at equal intervals, and an independently controlled electric air pump is set for each sub-segment. The movement of each sub-segment is controlled by controlling the electric air pump, and each sub-segment is connected by a non-flexible material; in this embodiment, the non-flexible material is aluminum alloy; by dividing the flexible finger into multiple sub-segments and configuring an independent electric air pump for each sub-segment, the flexible gripper can accurately control the movement of each sub-segment; this segmented control enables the flexible gripper to flexibly adjust the grasping strategy according to the size and shape of the target object when grasping the target object; by dynamically adjusting the opening or contraction state of each sub-segment, the flexible gripper can not only grasp target objects with regular shapes, but also adapt to objects with complex shapes and different sizes, thereby greatly improving the versatility of the equipment; in addition, the independent segmented control avoids the grasping failure problem caused by the mismatch between the height of the target object and the length of the flexible gripper, and improves the success rate of grasping.

[0027] Get the length of each sub-segment in each flexible finger, recorded as sub-segment length; Compare the target height to the gripper jaw length; If the height of the target object is greater than or equal to the length of the gripper, the flexible gripper is controlled to execute the first grasping strategy for the target object; If the height of the target object is less than the length of the gripper, determine whether the conditions for executing the second grasping strategy are met, including: Calculate the difference between the length of the gripper and the length of the sub-segment, and record the difference as the inspection length; Compare the inspection length with the target object height; If the inspection length is greater than or equal to the height of the target object, it is determined that the conditions for executing the second grasping strategy are met, and the second grasping strategy is executed on the target object; If the inspection length is less than the height of the target object, it is determined that the conditions for executing the second grasping strategy are not met, and the first grasping strategy is executed for the target object. By comparing the height of the target object with the total length of the flexible fingers, the first grasping strategy or the second grasping strategy is selected according to the difference; this solution ensures that the flexible gripper can directly grasp the target object stably when the height is large, and when the height of the target object is small, stable grasping is achieved through steps such as tilting and closing; this design not only ensures grasping stability, but also effectively improves grasping efficiency, especially suitable for grasping objects of different heights, such as logistics handling, production line sorting, etc.; by flexibly switching grasping strategies, it also reduces the grasping time delay caused by differences in the characteristics of the target object, thereby improving the overall work efficiency of the equipment.

[0028] The executing a first grasping strategy on the target object includes: Obtain the axis of the target object and record it as the target axis; Control all electric air pumps to pump air, so that two flexible fingers in the flexible gripper open, and the distance between the two flexible fingers is greater than the target diameter; Reference Figure 2 , obtain the ends of the two flexible fingers and connect them, and record the obtained connection line as the spacing connection line; Get the midpoint of the interval line and record it as the interval midpoint; Obtaining the installation bottom surface of the flexible clamping jaw, and recording it as the clamping jaw installation surface; Control the flexible clamp to move above the target object so that the clamp installation surface is parallel to the placement surface and the midpoint of the distance coincides with the target axis; Control the flexible gripper to approach the target object and keep the midpoint of the distance coincident with the target axis; When the flexible finger end of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Control all electric air pumps to inflate, so that the two flexible fingers in the flexible gripper contract and the distance between the two flexible fingers becomes smaller; When both flexible fingers are in contact with the target object, all electric air pumps are controlled to stop inflating, the first grasping strategy for the target object is completed, and the flexible gripper is controlled to move the target object to the target position. By controlling the opening and contraction of the flexible gripper fingers, accurate positioning is ensured when the finger ends are in contact with the placement surface; combining the target object axis and the midpoint alignment strategy of the flexible gripper, the relative position of the gripper and the target object can be accurately adjusted; the finger movement is synchronized and coordinated by independently controlled electric air pumps to ensure that the flexible gripper can stably grasp the target object and move it to the specified position; this solution improves the adaptability of the flexible gripper to the size and position of the target object during the grasping process, and optimizes the accuracy and stability of grasping.

[0029] The executing a second grasping strategy on the target object comprises: Control the flexible gripper to execute the pre-grasping strategy; When the flexible gripper completes the pre-grasping strategy, the flexible gripper is controlled to perform a first tilting strategy on the target object; After executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy; After completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object; After executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy; After completing the second closing strategy, the flexible gripper is controlled to execute a straightening strategy on the target object; After completing the straightening strategy, the second grasping strategy for the target object is completed, and the flexible gripper is controlled to carry the target object to the target position.

[0030] The controlling the flexible gripper to execute the pre-grasping strategy includes: Calculate half of the target diameter and record the value as the comparison length; Get the number of sub-segments on each flexible finger in the flexible gripper, and record it as N; Compare the comparison length with the sum of the lengths of N-1 sub-segments. If the comparison length is ≥ the sum of the lengths of N-1 sub-segments, determine whether the length of one sub-segment is ≥ the height of the grasped object. If so, select N-1 sub-segments as marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-2 sub-segments. If the comparison length is ≥ the sum of the lengths of N-2 sub-segments, determine whether the lengths of the two sub-segments are ≥ the height of the grasped object. If so, select N-2 sub-segments as the marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-3 sub-segments. If the comparison length is ≥ the sum of the lengths of N-3 sub-segments, determine whether the lengths of the three sub-segments are ≥ the height of the grasped object. If so, select N-3 sub-segments as the marked sub-segments. And so on, until one sub-segment is selected as the marked sub-segment; Get the number of marked sub-segments, and record it as A; From the end of each flexible finger of the flexible gripper, A sub-segments are selected in turn and used as an auxiliary segment; by selecting the number of sub-segments of the flexible fingers according to the target diameter, an appropriate number of sub-segments are controlled as auxiliary segments; this design enables the flexible gripper to dynamically adjust the grasping range according to the actual size of the target object, avoiding the problem of over-grasping or under-grasping; this strategy enables the flexible gripper to accurately grasp the target object, and at the same time, makes the length of the selected auxiliary segment more suitable for the target object, so that during the grasping process, after the closing strategy is executed, the auxiliary segment can wrap the bottom surface of the target object to the maximum extent, and at the same time, the auxiliary segment will not overlap, thereby ensuring the reliability of the grasping, and also ensuring that after grasping the target object, the bottom surface of the target object will not be tilted due to the squeezing caused by the overlapping of the auxiliary segments, so that the bottom surface of the target object can remain parallel to the placement surface after grasping, thereby ensuring that when the target object needs to be released later, it can be released stably.

[0031] Obtain an electric air pump that controls each sub-segment in each auxiliary segment, and record it as an auxiliary air pump; Obtain the Ath subsegment and the A+1th subsegment starting from the end of each flexible finger of the flexible gripper, and record them as the holding segment and the action segment respectively; Get the connection point between the holding segment and the action segment, and record it as the connection position; A connection position of any flexible finger is recorded as a first connection position, and another connection position is recorded as a second connection position; The area surrounded by the flexible fingers of the flexible gripper is recorded as the inner area, and the other areas outside the inner area are recorded as the outer area; Control all electric air pumps to pump air so that the two flexible fingers in the flexible gripper open, and when the distance between the flexible fingers is greater than the target diameter, control all electric air pumps to stop pumping air; The auxiliary air pump is controlled to pump air until the auxiliary section opens to the maximum extent, completing the pre-grasping strategy. Through the segmented control of the sub-segments, the selection of the marked sub-segments and the independent operation of the auxiliary sections, the optimal configuration and enhanced adaptability of the flexible gripper resources during the grasping process are achieved; in addition, by comparing the target diameter with the length of the flexible gripper sub-segments in segments, the grasping requirements are effectively matched to ensure that the gripping range of the gripper fully wraps the target object while avoiding excessive energy consumption; the two flexible fingers in the flexible gripper are controlled to open so that the distance between the flexible fingers is greater than the target diameter, ensuring that there is enough space between the flexible grippers, so that the target object can be docked smoothly and the grasping preparation is completed; the auxiliary section is controlled to open to the maximum extent, so that the flexible gripper will not conflict with the placement surface when grasping the target object downward, so that other sub-segments outside the auxiliary section can fully contact the target object, thereby ensuring the stability of the grasping.

[0032] After the flexible gripper completes the pre-grasping strategy, controlling the flexible gripper to execute a first tilting strategy on the target object includes: Control the flexible clamp to move to the top of the target object so that the projection of the inner area perpendicular to the placement surface completely covers the target object, and the target object is located at the center of the projection of the inner area perpendicular to the placement surface; Control the flexible gripper to approach the target object and keep the target object at the center position of the projection downward perpendicular to the placement surface in the inner area; When the connection position of the flexible fingers of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Controlling other electric air pumps except the auxiliary air pump to inflate, so that the flexible fingers in the flexible gripper contract and the distance between the flexible fingers becomes smaller; When all the flexible fingers are in contact with the target object, other electric air pumps except the auxiliary air pump are controlled to stop inflating; Get the length of the auxiliary segment and record it as V; Control the flexible clamp to hold the target object and rotate it around the first connection position so that the bottom surface of the target object is separated from the placement surface, and monitor the vertical distance between the second connection position and the placement surface during the rotation process, and record it as the second distance; When the second distance is greater than V, the flexible clamp is controlled to stop moving, completing the first tilting strategy.

[0033] After executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy includes: The flexible finger where the second connection position is located is recorded as the second finger, and the auxiliary segment located on the second finger is obtained and recorded as the second auxiliary segment; Obtain all auxiliary air pumps corresponding to the second auxiliary segment and record them as second auxiliary air pumps; All second auxiliary air pumps are controlled to inflate, so that the second auxiliary segments are in full contact with the grasping bottom surface of the target object, thereby completing the first closing strategy.

[0034] After completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object includes: Get the length of the auxiliary segment and record it as V; Controlling the flexible clamping claw to hold the target object and rotate around the first connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the second connection position contacts the placement surface, the flexible clamping claw is controlled to stop rotating around the first connection position; Control the flexible clamp to hold the target object and rotate it around the second connection position, so that the distance between the bottom surface of the target object and the placement surface gradually increases, and monitor the vertical distance between the first connection position and the placement surface during the rotation process, and record it as the first distance; When the first distance is greater than V, the flexible clamp is controlled to stop moving, completing the second tilting strategy.

[0035] After executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy includes: The flexible finger where the first connection position is located is recorded as the first finger, and the auxiliary segment located on the first finger is obtained and recorded as the first auxiliary segment; Obtain all auxiliary air pumps corresponding to the first auxiliary segment and record them as first auxiliary air pumps; All first auxiliary air pumps are controlled to inflate, so that the first auxiliary section is in full contact with the grasping bottom surface of the target object, thereby completing the second closing strategy.

[0036] Through the first tilting strategy and the second tilting strategy, the posture of the target object can be effectively adjusted through multiple step-by-step rotations, and the vertical distance between the connection position and the placement surface can be monitored during the tilting process, thereby ensuring that after the tilting strategy is completed, the auxiliary section in the flexible clamp has enough space to shrink until it contacts the bottom surface of the target object; secondly, through the first closing strategy and the second closing strategy, the auxiliary section contacts the bottom surface of the target object, thereby enhancing the clamping stability and avoiding the target object from slipping or loosening during subsequent handling, effectively improving the accuracy of grasping and adjustment.

[0037] After the second closing strategy is completed, the flexible clamp is controlled to execute a straightening strategy on the target object, including: Controlling the flexible clamping claw to hold the target object and rotate it around the second connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the bottom surface of the target object is parallel to the placement surface, the flexible gripper is controlled to stop rotating around the second connection position to complete the straightening strategy. In the straightening strategy, the flexible gripper rotates around the connection position to make the bottom surface of the target object parallel to the placement surface. This design can quickly complete the posture adjustment after the target object is grasped, so that the target object is in a stable handling state, thereby reducing the risk of shaking or tipping during transportation. This operation improves the automation level of the entire grasping process, which is particularly important in high-precision handling scenarios and can effectively improve the stability and reliability of industrial automation systems.

[0038] Embodiment 2, a system for implementing the intelligent control method for electrical equipment, comprising: Flexible gripper: comprising two flexible fingers, each of which is composed of sub-segments, each of which can be controlled independently; Electric air pump: used to evacuate or inflate the sub-segment, and control the sub-segment to open or contract; Distance measurement module: obtains the distance between the connection position and the placement surface; Data comparison module: used to compare the numerical values ​​of data.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent control method for electrical equipment, characterized in that: include: The plane where the target object is located is recorded as the placement plane; The target object is a cylindrical object; Obtain two circular surfaces in the target object, record one of the circular surfaces in contact with the placement surface as the grasping bottom surface, and record the other circular surface as the grasping top surface; Obtain the vertical distance between the grasping top surface and the placement surface, and record it as the grasping object height; Obtain the diameter of the grasping bottom surface and record it as the target diameter; The electric air pump is controlled to control the flexible gripper to grab the target object, including: Obtain the length of each flexible finger in the flexible gripper, and record it as the gripper length; Each flexible finger is equally spaced into sub-segments, and an independently controlled electric air pump is provided for each sub-segment. The movement of each sub-segment is controlled by controlling the electric air pump, and each sub-segment is connected by a non-flexible material; Get the length of each sub-segment in each flexible finger, recorded as sub-segment length; Compare the target height to the gripper jaw length; If the height of the target object is greater than or equal to the length of the gripper, the flexible gripper is controlled to execute the first grasping strategy for the target object; If the height of the target object is less than the length of the gripper, determine whether the conditions for executing the second grasping strategy are met, including: Calculate the difference between the length of the gripper and the length of the sub-segment, and record the difference as the inspection length; Compare the inspection length with the target object height; If the inspection length is greater than or equal to the height of the target object, it is determined that the conditions for executing the second grasping strategy are met, and the second grasping strategy is executed on the target object; If the inspection length is less than the height of the target object, it is determined that the conditions for executing the second grasping strategy are not met, and the first grasping strategy is executed on the target object.

2. The intelligent control method for electrical equipment according to claim 1, characterized in that: The executing a first grasping strategy on the target object includes: Obtain the axis of the target object and record it as the target axis; Control all electric air pumps to pump air, so that two flexible fingers in the flexible gripper open, and the distance between the two flexible fingers is greater than the target diameter; Obtain the ends of two flexible fingers and connect them, and record the obtained connection line as a spacing connection line; Get the midpoint of the interval line and record it as the interval midpoint; Obtaining the installation bottom surface of the flexible clamping jaw, and recording it as the clamping jaw installation surface; Control the flexible clamp to move above the target object so that the clamp installation surface is parallel to the placement surface and the midpoint of the distance coincides with the target axis; Control the flexible gripper to approach the target object and keep the midpoint of the distance coincident with the target axis; When the flexible finger end of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Control all electric air pumps to inflate, so that the two flexible fingers in the flexible gripper contract and the distance between the two flexible fingers becomes smaller; When both flexible fingers are in contact with the target object, all electric air pumps are controlled to stop inflating, completing the first grasping strategy for the target object, and controlling the flexible gripper to carry the target object to the target position.

3. The intelligent control method for electrical equipment according to claim 1, characterized in that: The executing a second grasping strategy on the target object comprises: Control the flexible gripper to execute the pre-grasping strategy; When the flexible gripper completes the pre-grasping strategy, the flexible gripper is controlled to perform a first tilting strategy on the target object; After executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy; After completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object; After executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy; After completing the second closing strategy, the flexible gripper is controlled to execute a straightening strategy on the target object; After completing the straightening strategy, the second grasping strategy for the target object is completed, and the flexible gripper is controlled to carry the target object to the target position.

4. The intelligent control method for electrical equipment according to claim 3, characterized in that: The controlling the flexible gripper to execute the pre-grasping strategy includes: Calculate half of the target diameter and record the value as the comparison length; Get the number of sub-segments on each flexible finger in the flexible gripper, and record it as N; Compare the comparison length with the sum of the lengths of N-1 sub-segments. If the comparison length is ≥ the sum of the lengths of N-1 sub-segments, determine whether the length of one sub-segment is ≥ the height of the grasped object. If so, select N-1 sub-segments as marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-2 sub-segments. If the comparison length is ≥ the sum of the lengths of N-2 sub-segments, determine whether the lengths of the two sub-segments are ≥ the height of the grasped object. If so, select N-2 sub-segments as the marked sub-segments. If not, compare the comparison length with the sum of the lengths of N-3 sub-segments. If the comparison length is ≥ the sum of the lengths of N-3 sub-segments, determine whether the lengths of the three sub-segments are ≥ the height of the grasped object. If so, select N-3 sub-segments as the marked sub-segments. And so on, until one sub-segment is selected as the marked sub-segment; Get the number of marked sub-segments, and record it as A; Select A sub-segments from the end of each flexible finger of the flexible gripper in turn, and use the A sub-segments as an auxiliary segment; Obtain an electric air pump that controls each sub-segment in each auxiliary segment, and record it as an auxiliary air pump; Obtain the Ath subsegment and the A+1th subsegment starting from the end of each flexible finger of the flexible gripper, and record them as the holding segment and the action segment respectively; Get the connection point between the holding segment and the action segment, and record it as the connection position; A connection position of any flexible finger is recorded as a first connection position, and another connection position is recorded as a second connection position; The area surrounded by the flexible fingers of the flexible gripper is recorded as the inner area, and the other areas outside the inner area are recorded as the outer area; Control all electric air pumps to pump air so that the two flexible fingers in the flexible gripper open, and when the distance between the flexible fingers is greater than the target diameter, control all electric air pumps to stop pumping air; The auxiliary air pump is controlled to pump air until the auxiliary section opens to the maximum limit, completing the pre-grabbing strategy.

5. The intelligent control method for electrical equipment according to claim 4, characterized in that: After the flexible gripper completes the pre-grasping strategy, controlling the flexible gripper to execute a first tilting strategy on the target object includes: Control the flexible clamp to move to the top of the target object so that the projection of the inner area perpendicular to the placement surface completely covers the target object, and the target object is located at the center of the projection of the inner area perpendicular to the placement surface; Control the flexible gripper to approach the target object and keep the target object at the center position of the projection downward perpendicular to the placement surface in the inner area; When the connection position of the flexible fingers of the flexible gripper contacts the placement surface, the flexible gripper is controlled to stop moving; Controlling other electric air pumps except the auxiliary air pump to inflate, so that the flexible fingers in the flexible gripper contract and the distance between the flexible fingers becomes smaller; When all the flexible fingers are in contact with the target object, other electric air pumps except the auxiliary air pump are controlled to stop inflating; Get the length of the auxiliary segment and record it as V; Control the flexible clamp to hold the target object and rotate it around the first connection position so that the bottom surface of the target object is separated from the placement surface, and monitor the vertical distance between the second connection position and the placement surface during the rotation process, and record it as the second distance; When the second distance is greater than V, the flexible clamp is controlled to stop moving, completing the first tilting strategy.

6. The intelligent control method for electrical equipment according to claim 4, characterized in that: After executing the first tilting strategy on the target object, controlling the flexible clamp to execute the first closing strategy includes: The flexible finger where the second connection position is located is recorded as the second finger, and the auxiliary segment located on the second finger is obtained and recorded as the second auxiliary segment; Obtain all auxiliary air pumps corresponding to the second auxiliary segment and record them as second auxiliary air pumps; All second auxiliary air pumps are controlled to inflate, so that the second auxiliary segments are in full contact with the grasping bottom surface of the target object, thereby completing the first closing strategy.

7. The intelligent control method for electrical equipment according to claim 4, characterized in that: After completing the first closing strategy, controlling the flexible clamp to execute a second tilting strategy on the target object includes: Get the length of the auxiliary segment and record it as V; Controlling the flexible clamping claw to hold the target object and rotate around the first connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the second connection position contacts the placement surface, the flexible clamping claw is controlled to stop rotating around the first connection position; Control the flexible clamp to hold the target object and rotate it around the second connection position, so that the distance between the bottom surface of the target object and the placement surface gradually increases, and monitor the vertical distance between the first connection position and the placement surface during the rotation process, and record it as the first distance; When the first distance is greater than V, the flexible clamp is controlled to stop moving, completing the second tilting strategy.

8. The intelligent control method for electrical equipment according to claim 4, characterized in that: After executing the second tilting strategy on the target object, controlling the flexible clamp to execute the second closing strategy includes: The flexible finger where the first connection position is located is recorded as the first finger, and the auxiliary segment located on the first finger is obtained and recorded as the first auxiliary segment; Obtain all auxiliary air pumps corresponding to the first auxiliary segment and record them as first auxiliary air pumps; All first auxiliary air pumps are controlled to inflate, so that the first auxiliary section is in full contact with the grasping bottom surface of the target object, thereby completing the second closing strategy.

9. The intelligent control method for electrical equipment according to claim 4, characterized in that: After the second closing strategy is completed, the flexible clamp is controlled to execute a straightening strategy on the target object, including: Controlling the flexible clamping claw to hold the target object and rotate around the second connection position so that the distance between the bottom surface of the target object and the placement surface becomes smaller; When the bottom surface of the target object is parallel to the placement surface, the flexible clamp is controlled to stop rotating around the second connection position, completing the rotation strategy.

10. A system using the intelligent control method for electrical equipment according to claim 1, characterized in that: include: Flexible gripper: comprising two flexible fingers, each of which is composed of sub-segments, each of which can be controlled independently; Electric air pump: used to evacuate or inflate the sub-segment, and control the sub-segment to open or contract; Distance measurement module: obtains the distance between the connection position and the placement surface; Data comparison module: used to compare the numerical values ​​of data.

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