Mechanical arm for automatic butt-joint liquid supplementing and control method of mechanical arm

Abstract

The invention discloses a mechanical arm for automatic butt joint liquid supplementing and a control method thereof.The mechanical arm for automatic butt joint liquid supplementing comprises a mechanical arm body and a control box, and a pipeline movement module, a mechanical arm movement module, a target recognition and positioning module and a signal acquisition module are installed on the mechanical arm body; a main control module is installed in the control box and connected with a wireless communication module, a pipeline movement module, a mechanical arm movement module, a target recognition and positioning module and a signal acquisition module through data lines. The main control module is connected with the upper computer module through the wireless communication module; and the main control module is used for analyzing the received operation instruction of the upper computer module and the identification information and position information processed by the target identification and positioning module and outputting signals to control the movement of the pipeline movement module and the mechanical arm movement module. According to the invention, the consumption of manpower is reduced, the continuous operation capability of the pesticide spraying machine is guaranteed, and the agricultural production efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural automation machinery and equipment, and in particular relates to a mechanical arm for automatic docking and fluid replenishment and a control method thereof. Background Art

[0002] When the liquid in the sprayer is insufficient, it needs to be replenished in time, and the traditional manual replenishment method is harmful to the health of the replenisher. The existing feasible method is to use a robotic arm instead of manual replenishment, but during use, the robotic arm needs to carry the replenishment pipeline and accurately connect with the medicine box port.

[0003] Although the mechanical arms in the prior art are of various types and flexible in operation, they usually lack effective pipeline design when carrying pipelines, and there are problems such as the asynchronous movement of the pipeline and the movement of the mechanical arm and the inaccurate docking of the mechanical arm with the target during the movement. For example, the patent application with the publication number CN118270607A discloses a telescopic arm assembly that can synchronously retract and release the pipe, which is a telescopic arm suitable for narrow spaces and can synchronize the telescopic movement of the telescopic pipe and the telescopic arm. The telescopic arm assembly is provided with a drive system and a tube retracting and releasing device, which mainly outputs power through the drive system, and uses chains and V-belts to drive the telescopic arm and the telescopic pipe to perform synchronous telescopic movement, thereby greatly improving work efficiency. However, during the rehydration process of the pesticide applicator, the end of the mechanical arm needs to accurately dock with the medicine box port, and guide the rehydration pipe to accurately extend into the medicine box port. The telescopic arm assembly in the patent application with the publication number CN118270607A lacks relevant devices for target recognition, and cannot realize that the telescopic arm independently recognizes the target medicine box port and completes accurate docking. In addition, the above technology only considers the synchronous telescopic movement of the telescopic arm and the telescopic pipeline. The telescopic pipeline can only be telescoped along the direction of the telescopic arm, and fails to change the lateral position of the telescopic arm in the horizontal plane. There is also a lack of effective guidance for the operating pipeline at the end of the telescopic arm, and the fluid infusion pipeline cannot be accurately extended to the medicine box opening.

[0004] In summary, the important technologies to ensure the reliable operation of the fluid infusion robot arm are to design a reasonable telescopic pipeline of the robot arm, ensure the synchronization of the pipeline and the robot arm movement and accurate docking with the target. Summary of the invention

[0005] In response to the above-mentioned problems, the present invention proposes a robotic arm for automatic docking and fluid infusion and a control method thereof, so as to realize flexible retraction and extension of pipelines and synchronous movement of the robotic arm, and on this basis, designs a suitable signal acquisition device and target recognition device, and proposes an efficient robotic arm control method, thereby realizing automatic docking and fluid infusion of the robotic arm.

[0006] The above purpose is achieved through the following technical solutions:

[0007] The present invention first provides a mechanical arm for automatic docking and fluid replenishment, comprising a mechanical arm body and a control box, wherein a pipeline motion module, a mechanical arm motion module, a target identification and positioning module and a signal acquisition module are installed on the mechanical arm body; a main control module is installed in the control box, and the main control module is connected to a wireless communication module, a pipeline motion module, a mechanical arm motion module, a target identification and positioning module and a signal acquisition module via a data line respectively; the main control module is connected to a host computer module via a wireless communication module;

[0008] The main control module is used to analyze the operation instructions received from the host computer module and the identification information and position information processed by the target identification and positioning module, and output signals to control the movement of the pipeline motion module and the mechanical arm motion module;

[0009] The wireless communication module is used to receive operation instructions from the host computer module and send information to the host computer module;

[0010] The pipeline motion module is used to realize the synchronous telescopic motion of the infusion pipeline and the robotic arm according to the received command;

[0011] The robot arm motion module is used to realize the movement of the robot arm and docking with the target object according to the received command;

[0012] The target identification and positioning module is used to identify and locate the target according to the received command;

[0013] The signal acquisition module is used to collect the working information of the fluid infusion pipeline, the working information of the robot arm body and the motion information according to the received commands.

[0014] Furthermore, the mechanical arm body comprises a column, a first-section arm and a second-section arm; the first-section arm is rotatably connected to the column, and the second-section arm is telescopically mounted on the free end of the first-section arm;

[0015] The robotic arm motion module includes a servo motor, a first electric push rod, a second electric push rod, and the servo motor is coaxially installed on the mounting base of the robotic arm with the column. One end of the first electric push rod is connected to one section of the robotic arm, and the other end is connected to the mounting base, which is used to adjust the angle between the one section of the arm and the column; one end of the second electric push rod is installed in one section of the robotic arm, and the other end is connected to the second section of the arm, which is used to change the telescopic distance of the two sections of the robotic arm; sensors are integrated in the first electric push rod and the second electric push rod, which can feedback the movement speed and distance information of the push rod to the main control module.

[0016] Furthermore, the pipeline movement module includes a DC motor, a tension wire head, a fluid replenishment pipeline, a second rotating wheel, a first rotating wheel, a flexible guide wheel, and a water pipe reel; wherein the DC motor is installed above the first arm, and a steel wire rope is connected to the DC motor. A first rotating wheel and a second rotating wheel are also installed above and at the end of the first arm. The steel wire rope changes its direction through the first rotating wheel and the second rotating wheel. The other end of the steel wire rope is connected to a tension wire head, and the tension wire head is stuck in the fluid replenishment pipeline. The flexible guide wheel is installed at the end of the second arm to ensure that the pipeline moves synchronously with the robotic arm and guides the fluid replenishment pipeline to extend vertically downward. The water pipe reel is installed on the column of the robotic arm to wind the fluid replenishment pipeline.

[0017] Furthermore, the target recognition and positioning module includes a binocular vision camera and a processing module; the binocular vision camera and the processing module are both installed at the front end of the robotic arm body; the binocular vision camera is used to capture images and send the images to the processing module, the processing module analyzes the captured images to identify the target object and determine the size and shape of the target object, and transmits the processed information to the host computer module.

[0018] Furthermore, the signal acquisition module includes a first angle sensor, a second angle sensor, a Hall encoder, and a current sensor; the first angle sensor is coaxially installed on the base of the mechanical arm with the servo motor, and is used to detect the angle of horizontal rotation of the mechanical arm; the second angle sensor is coaxially installed at the rotation center of the first arm and the column, and is used to detect the angle β0 between the first arm of the mechanical arm and the column; the Hall encoder is coaxially installed above the first arm with the DC motor, and is used to detect the rotation speed V of the wire rope driven by the DC motor to extend and retract the pipeline s The current sensor is installed inside the DC motor and is used to detect the working current of the DC motor. When the working current detected by the current sensor is greater than the preset threshold, it is considered that the pipeline motion module is blocked, and the main control module sends a blockage alarm signal to the host computer through the wireless communication module to alarm.

[0019] The present invention also provides a control method for the above-mentioned mechanical arm for automatic docking and fluid infusion, the method comprising the following steps:

[0020] S100, the system is initialized after power-on, the main control module outputs the first control signal and the second control signal to the pipeline motion module 300, the robot arm motion module drives the pipeline and the robot arm to move synchronously to the preset initial position, and waits for the operation signal;

[0021] S200, the main control module reads and analyzes the data information received by the wireless communication module to determine whether the operation signal of the host computer module is received; if yes, execute step S201, otherwise execute step S200;

[0022] S201, the main control module outputs the first control signal and the second control signal to the pipeline motion module. The mechanical arm motion module drives the mechanical arm to start horizontal rotation. At the same time, the binocular vision camera of the target recognition and positioning module captures the image and transmits it to the processing module to identify the target. The processing module transmits the processed information to the host computer module;

[0023] S202, the processing module of the target recognition and positioning module analyzes the image information captured by the binocular vision camera to determine whether the target recognition and positioning module recognizes the target; if yes, execute step S204, otherwise execute step S203;

[0024] S203, the target identification and positioning module transmits the identification failure information to the host computer module for alarm, and the user can view the specific alarm information and mechanical arm movement information in the host computer module;

[0025] S204, the binocular vision camera of the target recognition and positioning module takes images again, and transmits the image information to the processing module to start positioning the target;

[0026] S205, the target identification and positioning module completes the target position positioning, and transmits the target position information and the current position information to the host computer module, and the host computer module transmits the received information to the main control module through the wireless communication module;

[0027] S206 The robotic arm starts to adjust its position, and the main control module outputs the first and second control signals to the pipeline motion module and the robotic arm motion module, driving the robotic arm and the pipeline to adjust their postures. The pipeline motion module controls the rotation of the DC motor to start the movement of the infusion pipeline, and cooperates with the flexible guide wheel installed at the end of the second arm of the robotic arm to guide the pipeline, so as to achieve synchronous movement of the pipeline and the robotic arm, and complete the target docking;

[0028] S207 The binocular vision camera of the target recognition and positioning module captures image information and transmits it to the processing module, which is then analyzed and processed by the processing module and then transmitted to the host computer module. The host computer module sends the processed information to the main control module through the wireless communication module. The main control module determines whether the end of the robot arm reaches the expected position according to the received position information; if yes, execute step S300, otherwise execute step S206;

[0029] S300 The robot arm stops moving, and the main control module outputs a first control signal to the pipeline motion module, so that the liquid infusion pipeline moves alone, and the flexible guide wheel installed at the end of the robot arm guides the liquid infusion pipeline to the target medicine box port to complete the operation;

[0030] S301 The main control module determines whether the robot arm has completed the operation; if yes, execute step S301, otherwise execute step S400;

[0031] The S400 main control module outputs the first and second control signals to the pipeline motion module and the robotic arm motion module, controls the robotic arm to recycle the fluid replenishment pipeline, and synchronously returns to the initial position, and the movement ends.

[0032] Furthermore, the first control signal is the movement speed of the DC motor, which is used to control the DC motor to pull the wire rope, drive the tension wire head connected to the other end of the wire rope to move, thereby realizing the extension and retraction of the infusion pipeline. The first control signal is the movement speed of the DC motor, and its speed is proportional to the movement speed V of the wire rope. s Equal, use the following formula:

[0033] V S =V0+V1+V2

[0034] Where V s It is the algebraic sum of the three motion vectors V0, V1, and V2 along the direction of the first and second arm sections, and its positive and negative signs represent the motion direction of the DC motor. V0 is the expected pipeline motion speed, which is preset by the user; V2 is the motion speed of the second electric push rod in the robot arm motion module; V1 is the speed component of the pipeline motion caused by the motion of the first electric push rod in the robot arm motion module, which is obtained by the following formula:

[0035]

[0036] Where V d1 is the motion vector of the first electric push rod of the robot arm motion module, θ0 is the angle between the first electric push rod of the robot arm motion module and the column, and R is the straight-line distance between the rotary wheel on the one arm section and the central axis of the rotary wheel connecting the one arm section and the column.

[0037] Furthermore, the second control signal includes a first drive signal, a second drive signal and a third drive signal, which are respectively used to drive the servo motor, the first electric push rod and the second electric push rod to work, and are the movement speeds of the servo motor, the first electric push rod and the second electric push rod, respectively, and are used to control the horizontal rotation of the column, the rotation of the first arm, and the telescopic movement of the second arm; the third control signal is used to control the operation of the target recognition and positioning module, and the fourth control signal is used to control the operation of the signal acquisition module.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention is provided with a target identification and positioning module and a signal acquisition module. The main control module outputs a control signal to enable the target identification and positioning module to identify and locate the target object, and then obtains the identification and position information processed by the target identification module through the wireless communication module, and then outputs a control signal according to the position information, and cooperates with the signal acquisition module to drive the pipeline and the mechanical arm to extend and retract, thereby realizing the synchronous movement of the mechanical arm and the fluid replenishment pipeline and the accurate docking with the target, replacing the traditional manual fluid replenishment, reducing the consumption of manpower, and at the same time ensuring the continuous operation capability of the sprayer, thereby improving agricultural production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of a mechanical arm for automatic docking and fluid replenishment according to an embodiment of the present invention;

[0041] Figure 2 It is a schematic axial view of a mechanical arm for automatic docking and fluid replenishment according to an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of a module of a robotic arm for automatic docking and fluid replenishment according to an embodiment of the present invention;

[0043] Figure 4 This is a workflow diagram of a control method for a robotic arm for automatic docking and fluid infusion according to an embodiment of the present invention;

[0044] Names of the numbers in the figure: 100, main control module; 200, wireless communication module; 300, pipeline motion module; 310, DC motor; 320, tension wire head; 330, infusion pipeline; 340, second rotary wheel; 350, first rotary wheel; 360, flexible guide wheel; 370, water hose reel; 400, robot arm motion module; 410, servo motor; 420, column; 430, first electric push rod; 440, first arm; 450, second electric push rod; 460, second arm; 500, target recognition and positioning module; 510, processing module; 520, binocular vision camera; 600, signal acquisition module; 610, first angle sensor; 620, second angle sensor; 630, Hall encoder; 640, current sensor; 700, host computer module; DETAILED DESCRIPTION

[0045] like Figure 1-2As shown, in an embodiment of the present invention, the robotic arm for automatic docking and fluid infusion includes a robotic arm body and a control box, and a pipeline movement module 300, a robotic arm movement module 400, a target identification and positioning module 500 and a signal acquisition module 600 are installed on the robotic arm body, and the main control module 100 is connected to the wireless communication module 200, the pipeline movement module 300, the robotic arm movement module 400, the target identification and positioning module 500, and the signal acquisition module 600 via data cables respectively; the main control module 100 is connected to the host computer module 700 through the wireless communication module 200.

[0046] The robot arm body includes a column 420 , a first-section arm 440 , and a second-section arm 460 ; the first-section arm 440 is rotatably connected to the column 420 , and the second-section arm 460 is telescopically mounted on the free end of the first-section arm 440 . The robotic arm motion module 400 includes a servo motor 410, a first electric push rod 430, and a second electric push rod 450; the servo motor 410 is coaxially installed with the column 420 on the mounting base of the robotic arm, and is used to control the movement of the robotic arm in the horizontal plane; one end of the first electric push rod 430 is connected to an arm section 440 of the robotic arm, and the other end is connected to the mounting base, and is used to adjust the angle between the arm section 440 of the robotic arm and the column 420; one end of the second electric push rod 450 is installed in the arm section 440 of the robotic arm, and the other end is connected to the second arm section 460, and is used to change the telescopic distance of the second arm section 460 of the robotic arm; sensors are integrated inside the first electric push rod 430 and the second electric push rod 450, which can feedback the movement speed and distance information of the push rods to the main control module 100.

[0047] The pipeline motion module 300 includes a DC motor 310, a tension wire head 320, a fluid infusion pipeline 330, a second rotating wheel 340, a first rotating wheel 350, a flexible guide wheel 360, and a water hose reel 370; the DC motor 310 is installed above the first arm 440 of the mechanical arm, and a steel wire rope is connected to the DC motor 310. The first rotating wheel 350 and the second rotating wheel 340 are also installed above and at the end of the first arm 440 of the mechanical arm. The steel wire rope changes its direction through the first rotating wheel 350 and the second rotating wheel 340. The other end of the rope is connected to a tension wire head 320, and the tension wire head 320 is stuck on the fluid infusion pipeline 330. The flexible guide wheel 360 is connected to the water hose reel 370. The guide wheel 360 is installed at the end of the second arm 460 of the robotic arm, and is used to ensure that the pipeline moves synchronously with the robotic arm and guide the infusion pipeline 330 to extend vertically downward. The water pipe reel 370 is installed on the column 420 of the robotic arm, and is used to wind the infusion pipeline 330; the main control module 100 outputs a first control signal to rotate the DC motor 310 of the pipeline movement module 300, thereby driving the wire rope traction tension wire head 320, so that the pipeline can be telescopically moved. The infusion pipeline 330 changes the direction of the pipeline through the second rotating wheel 340, and accurately guides the infusion pipeline 330 to the medicine box opening through the flexible guide wheel 360 at the end of the robotic arm.

[0048] The target recognition and positioning module 500 includes a binocular vision camera 520 and a processing module 510; the binocular vision camera 520 and the processing module 510 are both installed at the front end of the robotic arm; the binocular vision camera 520 is used to capture images and send the images to the processing module 510, the processing module 510 analyzes the captured images to identify the target object and determine the size and shape of the target object, and transmits the processed information to the host computer module 700.

[0049] The signal acquisition module 600 includes a first angle sensor 610, a second angle sensor 620, a Hall encoder 630, and a current sensor 640; the first angle sensor 610 is coaxially installed with the servo motor 410 on the base of the robot arm, and is used to detect the angle of horizontal rotation of the robot arm; the second angle sensor 620 is coaxially installed at the center of the rotating wheel connecting the first arm 440 of the robot arm and the column 420, and is used to detect the angle β0 between the first arm 440 of the robot arm and the column 420; the Hall encoder 630 is coaxially installed with the DC motor 310 above the first arm 440, and is used to detect the rotation speed V of the wire rope driven by the DC motor 310 to extend and retract the pipeline sThe current sensor 640 is installed inside the DC motor 310 and is used to detect the working current of the DC motor 310. When the working current detected by the current sensor 640 is greater than the preset threshold, it is regarded as the pipeline movement module 300 is blocked, and the main control module 100 sends a blocking alarm signal to the host computer 700 through the wireless communication module 200 to alarm.

[0050] The main control module 100 is the control core of the robotic arm for automatic docking and fluid infusion, including a programmable controller, a frequency converter, a power switch and other devices. When in working mode, it is used to analyze the operation instructions of the host computer module 700 and the identification information and position information of the target identification and positioning module 500 received from the wireless communication module 200, and output a first control signal, a second control signal, a third control signal and a fourth control signal. The first control signal is used to control the operation of the pipeline motion module 300, the second control signal is used to control the operation of the robotic arm motion module 400, the third control signal is used to control the operation of the target identification and positioning module 500, and the fourth control signal is used to control the operation of the signal acquisition module 600;

[0051] The main control module 100 outputs a first control signal, a second control signal, a third control signal, and a fourth control signal; the first control signal is the movement speed of the DC motor 310, which is used to control the DC motor 310 to pull the wire rope, drive the tension wire head connected to the other end of the wire rope to move, thereby realizing the extension and retraction of the infusion pipeline; the second control signal includes a first drive signal, a second drive signal, and a third drive signal for driving the servo motor 410, the first electric push rod 430, and the second electric push rod 450 to work, which are the movement speeds of the servo motor 410, the first electric push rod 430, and the second electric push rod 450, respectively, and are used to control the horizontal rotation of the column 420 of the robot arm motion module 400, and the telescopic movement of the first arm 440 and the second arm 460; the third control signal is used to control the operation of the target recognition and positioning module 500, and the fourth control signal is used to control the operation of the signal acquisition module 600;

[0052] The wireless communication module 200 is used to receive the operation instructions of the host computer module 700 to the main control module 100 and send the robot arm working information obtained by the main control module 100 to the host computer module 700; when the wireless communication module 200 receives the operation command from the host computer module 700, the main control module 100 outputs a second control signal to the robot arm motion module 400, drives the servo motor 410 to rotate, so that the column 420 rotates horizontally, and outputs a third control signal to make the target recognition and positioning module 500 binocular vision camera 520 capture images and transmit them to the processing module 510, and the processing module 510 recognizes the target according to the captured image. After successful recognition, the target recognition and positioning module 500 transmits the target position and distance information to the upper computer module 700, and the upper computer module 700 transmits the operation instruction and the information processed by the target recognition module 500 to the main control module 100 through the wireless communication module 200. The main control module 100 outputs the first control signal and the second control signal to control the pipeline motion module 300 and the mechanical arm motion module 400 to drive the infusion pipeline and the mechanical arm to move synchronously to the target position, and transmits the mechanical arm motion information and alarm signal collected by the signal acquisition module 600 during the mechanical arm motion process to the upper computer module 700 through the wireless communication module 200;

[0053] The control method of the automatic docking and fluid replenishing robot arm is described as a whole in conjunction with a complete embodiment below:

[0054] S100 The system is initialized after power-on. The main control module 100 outputs the first control signal and the second control signal to the pipeline motion module 300 and the mechanical arm motion module 400. The pipeline and the mechanical arm synchronously move to the preset initial position and wait for the operation signal. The first control signal is the rotation speed of the DC motor of the pipeline motion module, and its speed is proportional to the movement speed V of the wire rope. s Equal, use the following formula:

[0055] V S =V0+V1+V2

[0056] Where V s It is the algebraic sum of the three motion vectors V0, V1, and V2 along the direction of the first and second arms of the robot motion module, and its positive and negative signs represent the motion direction of the DC motor. V0 is the expected pipeline motion speed, which is preset by the user; V2 is the motion speed of the second electric push rod in the robot motion module; V1 is the speed component of the pipeline motion caused by the motion of the first electric push rod in the robot motion module, which is obtained by the following formula:

[0057]

[0058] Where V d1is the motion vector of the first electric push rod of the robot arm motion module, θ0 is the angle between the first electric push rod of the robot arm motion module and the column, and R is the straight-line distance between the rotary wheel on one arm of the robot arm motion module and the central axis of the rotary wheel connecting the one arm and the column.

[0059] S200 The main control module 100 reads and analyzes the data information received by the wireless communication module 200 to determine whether the operation signal of the host computer module 700 is received; if yes, execute step S201, otherwise execute step S200;

[0060] S201 The main control module 100 outputs the first control signal and the second control signal to the pipeline motion module 300. The mechanical arm motion module 400 drives the mechanical arm to start horizontal rotation. At the same time, the binocular vision camera 520 of the target recognition and positioning module 500 captures the image and transmits it to the processing module 510 to identify the target. The processing module 510 transmits the processed information to the host computer module 700.

[0061] S202: The processing module 510 of the target recognition and positioning module 500 analyzes the image information captured by the binocular vision camera 520 to determine whether the target recognition and positioning module 500 recognizes the target; if so, execute step S204; otherwise, execute step S203;

[0062] S203: The target identification and positioning module 500 transmits the identification failure information to the host computer module 700 for alarm. The user can view the specific alarm information and the robot arm movement information in the host computer module 700;

[0063] S204 The binocular vision camera 520 of the target recognition and positioning module 500 captures an image again and transmits the image information to the processing module 510 to start positioning the target;

[0064] S205: The target identification and positioning module 500 completes the target location positioning and transmits the target location information and the current location information to the host computer module 700. The host computer module 700 transmits the received information to the main control module 100 via the wireless communication module 200.

[0065] S206 The robot arm starts to adjust its position. The main control module outputs the first and second control signals to the pipeline motion module 300 and the robot arm motion module 400 to drive the robot arm and the pipeline to adjust their postures. The pipeline motion module 300 controls the DC motor 310 to rotate to make the infusion pipeline 330 start to move, and cooperates with the flexible guide wheel 360 installed at the end of the second arm 460 of the robot arm to guide the pipeline, so as to achieve synchronous movement of the pipeline and the robot arm, and complete the target docking.

[0066] S207 The binocular vision camera 520 of the target recognition and positioning module 500 captures image information and transmits it to the processing module 510. After being analyzed and processed by the processing module 510, it is transmitted to the host computer module 700. The host computer module 700 sends the processed information to the main control module 100 through the wireless communication module 200. The main control module 100 determines whether the end of the robot arm reaches the expected position according to the received position information; if yes, execute step S300, otherwise execute step S206;

[0067] S300 The robot arm stops moving, and the main control module 100 outputs a first control signal to the pipeline movement module 300, so that the liquid infusion pipeline 330 moves alone, and the flexible guide wheel 360 installed at the end of the robot arm guides the liquid infusion pipeline 330 to the target medicine box opening to complete the operation;

[0068] S301 The main control module 100 determines whether the robot arm has completed the operation; if yes, execute step S301, otherwise execute step S400;

[0069] S400 The main control module 100 outputs the first and second control signals to the pipeline motion module 300 and the robot arm motion module 400, controls the robot arm to recycle the infusion pipeline 330, and synchronously returns to the initial position, and the motion ends.

Claims

1. A robotic arm for automatic docking and fluid replenishment, comprising a robotic arm body and a control box, characterized in that: The mechanical arm body is installed with a pipeline motion module (300), a mechanical arm motion module (400), a target identification and positioning module (500) and a signal acquisition module (600); the control box is installed with a main control module (100), and the main control module (100) is connected to the wireless communication module (200), the pipeline motion module (300), the mechanical arm motion module (400), the target identification and positioning module (500), and the signal acquisition module (600) via data cables; the main control module (100) is connected to the host computer module (700) via the wireless communication module (200); The main control module (100) is used to analyze the received operation instructions of the host computer module (700) and the identification information and position information output signals processed by the target identification and positioning module (500) to control the movement of the pipeline movement module (300) and the mechanical arm movement module (400); The wireless communication module (200) is used to receive operation instructions from the host computer module (700) and send information to the host computer module (700); The pipeline motion module (300) is used to realize the synchronous telescopic motion of the infusion pipeline and the robotic arm according to the received command; The robot arm motion module (400) is used to realize the motion of the robot arm and docking with the target object according to the received command; The target identification and positioning module (500) is used to identify and locate the target according to the received command; The signal acquisition module (600) is used to acquire the working information of the infusion pipeline, the working information of the robot arm body and the motion information according to the received command.

2. A robotic arm for automatic docking and fluid replenishment according to claim 1, characterized in that: The mechanical arm body comprises a column (420), a first-section arm (440), and a second-section arm (460); the first-section arm (440) is rotatably connected to the column (420), and the second-section arm (460) is telescopically mounted on the free end of the first-section arm (440); The robot arm motion module (400) comprises a servo motor (410), a first electric push rod (430), a second electric push rod (450), and the servo motor (410) and the column (420) are coaxially mounted on the mounting base of the robot arm; one end of the first electric push rod (430) is connected to an arm section (440) of the robot arm, and the other end is connected to the mounting base, so as to adjust the angle between the arm section (440) and the column (420); one end of the second electric push rod (450) is mounted inside the arm section (440) of the robot arm, and the other end is connected to the second arm section (460), so as to change the telescopic distance of the second arm section (460) of the robot arm; sensors are integrated inside the first electric push rod (430) and the second electric push rod (450), so as to feed back the movement speed and distance information of the push rods to the main control module (100).

3. A robotic arm for automatic docking and fluid replenishment according to claim 2, characterized in that: The pipeline motion module (300) comprises a DC motor (310), a tension wire head (320), a fluid infusion pipeline (330), a second rotating wheel (340), a first rotating wheel (350), a flexible guide wheel (360), and a water hose reel (370); wherein the DC motor (310) is installed above the first arm (440), a steel wire rope is connected to the DC motor (310), and the first rotating wheel (350) and the second rotating wheel (340) are also installed above and at the end of the first arm (440). The steel wire rope changes its direction through the first rotating wheel (350) and the second rotating wheel (340). The other end of the steel wire rope is connected to a tension wire head (320), which is stuck on the infusion pipeline (330). The flexible guide wheel (360) is installed at the end of the second arm (460) to ensure the synchronous movement of the pipeline and the mechanical arm and to guide the infusion pipeline (330) to extend vertically downward. The water pipe reel (370) is installed on the column (420) of the mechanical arm to wind the infusion pipeline (330).

4. A robotic arm for automatic docking and fluid replenishment according to claim 1, 2 or 3, characterized in that: The target recognition and positioning module (500) includes a binocular vision camera (520) and a processing module (510); the binocular vision camera (520) and the processing module (510) are both installed at the front end of the robot arm body; the binocular vision camera (520) is used to capture images and send the images to the processing module (510); the processing module (510) analyzes the captured images to identify the target object and determine the size and shape of the target object, and transmits the processed information to the host computer module (700).

5. A robotic arm for automatic docking and fluid replenishment according to claim 4, characterized in that: The signal acquisition module (600) comprises a first angle sensor (610), a second angle sensor (620), a Hall encoder (630), and a current sensor (640); the first angle sensor (610) and the servo motor (410) are coaxially mounted on the base of the mechanical arm, and are used to detect the angle of horizontal rotation of the mechanical arm; the second angle sensor (620) is coaxially mounted at the rotation center of the first arm (440) and the column (420), and is used to detect the angle β0 between the first arm (440) and the column (420) of the mechanical arm; the Hall encoder (630) and the DC motor (310) are coaxially mounted above the first arm (440), and are used to detect the rotation speed V of the steel wire rope driven by the DC motor (310) to extend and retract the pipeline s The current sensor (640) is installed inside the DC motor (310) and is used to detect the working current of the DC motor (310). When the working current detected by the current sensor (640) is greater than a preset threshold, it is considered that the pipeline motion module (300) is blocked, and the main control module (100) sends a blocking alarm signal to the host computer (700) through the wireless communication module (200) to alarm.

6. A control method for a robotic arm for automatic docking and fluid replenishment according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: S100, the system is initialized after power-on, the main control module (100) outputs a first control signal and a second control signal to the pipeline motion module (300) and the mechanical arm motion module (400) to drive the pipeline and the mechanical arm to move synchronously to a preset initial position, and wait for an operation signal; S200, the main control module (100) reads and analyzes the data information received by the wireless communication module (200), and determines whether an operation signal from the host computer module (700) is received; If yes, execute step S201, otherwise execute step S200; S201, the main control module (100) outputs a first control signal and a second control signal to the pipeline motion module (300), the mechanical arm motion module (400) drives the mechanical arm to start horizontal rotation, and at the same time, the binocular vision camera (520) of the target recognition and positioning module (500) captures an image and transmits it to the processing module (510) to identify the target, and the processing module (510) transmits the processed information to the host computer module (700); S202, the processing module (510) of the target recognition and positioning module (500) analyzes the image information captured by the binocular vision camera (520) to determine whether the target recognition and positioning module (500) has recognized the target; If yes, execute step S204, otherwise execute step S203; S203, the target identification and positioning (500) module transmits identification failure information to the host computer module (700) for alarm, and the user can view specific alarm information and mechanical arm movement information in the host computer module (700); S204, the binocular vision camera (520) of the target recognition and positioning module (500) captures an image again, and transmits the image information to the processing module (510) to start positioning the target; S205, the target identification and positioning module (500) completes the target position positioning, and transmits the target position information and the current position information to the host computer module (700), and the host computer module (700) transmits the received information to the main control module (100) via the wireless communication module (200); S206: The robot arm starts to adjust its position, and the main control module outputs the first and second control signals to the pipeline motion module (300) and the robot arm motion module (400), driving the robot arm and the pipeline to adjust their postures. The pipeline motion module (300) controls the rotation of the DC motor (310) to start the movement of the infusion pipeline (330), and cooperates with the flexible guide wheel (360) installed at the end of the second arm (460) of the robot arm to guide the pipeline, thereby achieving synchronous movement of the pipeline and the robot arm, and completing the target docking. S207: The binocular vision camera (520) of the target recognition and positioning module (500) captures image information and transmits it to the processing module (510). After being analyzed and processed by the processing module (510), the image information is transmitted to the host computer module (700). The host computer module (700) sends the processed information to the main control module (100) through the wireless communication module (200). The main control module (100) determines whether the end of the robot arm has reached the expected position based on the received position information. If yes, execute step S300, otherwise execute step S206; S300 The robot arm stops moving, and the main control module (100) outputs a first control signal to the pipeline movement module (300), so that the liquid infusion pipeline (330) moves independently, and the flexible guide wheel (360) installed at the end of the robot arm guides the liquid infusion pipeline (330) to the target medicine box opening to complete the operation; S301: the main control module (100) determines whether the robot arm has completed the operation; If yes, execute step S301, otherwise execute step S400; S400 The main control module (100) outputs the first and second control signals to the pipeline motion module (300) and the mechanical arm motion module (400), controls the mechanical arm to recycle the infusion pipeline (330), and synchronously returns to the initial position, and the motion ends.

7. The control method of the robotic arm for automatic docking and fluid replenishment according to claim 6, characterized in that: The first control signal is the movement speed of the DC motor (310), which is used to control the DC motor (310) to pull the steel wire rope, thereby driving the tension wire head connected to the other end of the steel wire rope to move, thereby realizing the extension and retraction of the infusion pipeline. The first control signal is the movement speed of the DC motor (310), and its speed is proportional to the movement speed V of the steel wire rope. s Equal, use the following formula: V S =V0+V1+V2 Where V s It is the algebraic sum of the three motion vectors V0, V1, and V2 along the direction of the first and second arm sections, and its positive and negative signs represent the motion direction of the DC motor. V0 is the expected pipeline motion speed, which is preset by the user; V2 is the motion speed of the second electric push rod in the robot arm motion module; V1 is the speed component of the pipeline motion caused by the motion of the first electric push rod in the robot arm motion module, which is obtained by the following formula: Where V d1 is the motion vector of the first electric push rod in the robot arm motion module, θ0 is the angle between the first electric push rod in the robot arm motion module and the column, and R is the straight-line distance between the rotary wheel on the one arm section and the central axis of the rotary wheel connecting the one arm section and the column.

8. The control method of the robotic arm for automatic docking and fluid replenishment according to claim 6, characterized in that: The second control signal comprises a first drive signal, a second drive signal and a third drive signal, which are respectively used to drive the servo motor (410), the first electric push rod (430) and the second electric push rod (450) to work, and are respectively the movement speeds of the servo motor (410), the first electric push rod (430) and the second electric push rod (450), and are used to control the horizontal rotation of the column (420), the rotation of the first arm (440) and the telescopic movement of the second arm (460); the third control signal is used to control the operation of the target recognition and positioning module (500), and the fourth control signal is used to control the operation of the signal acquisition module (600).

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