A control method and system of a hydraulic mechanical arm, an electronic device and a medium

Abstract

The application discloses a hydraulic mechanical arm control method, system, electronic equipment and medium, and belongs to the technical field of mechanical arm control technology. The control method comprises the following steps: detecting the rotation angle of the rotating platform by using the rotary encoder; detecting the lifting angle of the movable arm by using the movable arm angle sensor; detecting the telescopic length of the telescopic arm body by using the telescopic arm length sensor; detecting the arm lever angle by using the arm lever angle sensor; if a control instruction is received, generating current pose information according to the rotation angle, the lifting angle of the movable arm, the telescopic length and the arm lever angle, and performing the control operation corresponding to the control instruction on the target valve group according to the current pose information. The application can realize high-precision automatic control of the hydraulic mechanical arm.

Description

Technical Field

[0001] This application relates to the field of robotic arm control technology, and in particular to a control method, system, electronic device and medium for a hydraulic robotic arm. Background Technology

[0002] Currently, the application of hydraulic robotic arms in construction machinery, special machinery, and other mechanical equipment is increasing. Along with this trend, the industry is placing higher demands on the intelligent operation capabilities of hydraulic robotic arms. In related technologies, operators typically need to manually control the hydraulic robotic arms, which is difficult and has low precision.

[0003] Therefore, how to achieve high-precision automated control of hydraulic robotic arms is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a control method, system, electronic device, and medium for a hydraulic robotic arm, which enables the hydraulic robotic arm to achieve high-precision automated control.

[0005] To address the aforementioned technical problems, this application provides a control method for a hydraulic robotic arm. The hydraulic robotic arm includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body, a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are located at the end of the stick body. The control method for the hydraulic robotic arm includes:

[0006] The rotation angle of the rotary platform is detected using the rotary encoder.

[0007] The boom lifting angle is detected using the boom angle sensor; wherein, the boom lifting angle is the angle between the slewing support column and the boom body;

[0008] The telescopic arm length sensor is used to detect the telescopic arm body's telescopic length.

[0009] The stick angle is detected using the stick angle sensor; wherein, the stick angle is the angle between the stick body and the telescopic boom body;

[0010] If a control command is received, current position information is generated based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle. The target valve group is then subjected to the control operation corresponding to the control command based on the current position information. The target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group.

[0011] Optionally, if the control command is an automatic deployment command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including:

[0012] Determine whether the hydraulic robotic arm is in the retracted position state based on the current pose information;

[0013] If so, the automatic deployment command is parsed to obtain the first angle of the boom body, the second angle of the slewing platform, and the third angle of the stick body;

[0014] The boom body is raised by controlling the boom control valve group so that the boom raising angle is equal to the first angle.

[0015] The rotation of the slewing platform is controlled by the slewing control valve group so that the slewing angle of the slewing platform is equal to the second angle;

[0016] The stick body is controlled by the stick control valve group to make the stick angle equal to the third angle.

[0017] Optionally, if the control command is an automatic operation command, then the target valve group is subjected to the control operation corresponding to the control command based on the current position information, including:

[0018] Determine whether the hydraulic robotic arm is in the deployed position based on the current pose information;

[0019] If so, the automatic operation command is parsed to obtain the rotation angle range, operation step length, operation height, and operation posture angle;

[0020] Determine the current turning radius;

[0021] The boom control valve group, the telescopic boom control valve group, and the stick control valve group are adjusted according to the current slewing radius to ensure that the hydraulic robotic arm meets the first constraint condition, the second constraint condition, and the third constraint condition. The first constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height; the second constraint condition is that the distance between the attachment and the slewing axis of the slewing platform is equal to the current slewing radius; and the third constraint condition is that the angle between the stick body and the surface of the work object is equal to the working posture angle.

[0022] The slewing control valve group is adjusted so that the slewing platform drives the attachment to move along the target circular arc path; wherein, the target circular arc path is determined according to the slewing angle range and the current slewing radius;

[0023] Determine whether the telescopic arm body's telescopic length is equal to its maximum extension length;

[0024] If so, then the automatic operation is considered to have been completed.

[0025] If not, then a new current slewing radius is determined based on the gradual progress of the operation, and the process proceeds to the step of adjusting the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius.

[0026] Optionally, determining a new current turning radius based on the gradual increase in the working distance includes:

[0027] The new current turning radius is obtained by adding the progressively larger turning radius to the current turning radius.

[0028] Optionally, if the control command is an automatic retraction command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including:

[0029] Determine whether the hydraulic robotic arm is in the deployed or operational state based on the current pose information;

[0030] If so, the automatic retraction command is analyzed to obtain the fourth angle of the boom body, the fifth angle of the slewing platform, and the sixth angle of the stick body;

[0031] The boom body is raised by controlling the boom control valve group so that the boom raising angle is equal to the fourth angle.

[0032] The telescopic arm body is controlled to retract to its minimum length state by the telescopic arm control valve group;

[0033] The stick body is controlled by the stick control valve group to make the stick angle equal to the sixth angle;

[0034] The rotation of the slewing platform is controlled by the slewing control valve group so that the slewing angle of the slewing platform is equal to the fifth angle;

[0035] The boom body is lowered by controlling the boom control valve group so that the length direction of the boom body is parallel to the horizontal plane.

[0036] Optionally, during the process of performing the control operation corresponding to the control command on the target valve group based on the current pose information, the method further includes:

[0037] Start a timer and use the timer to record the operation time for the hydraulic robotic arm to execute the control command;

[0038] Determine whether the operation duration is greater than the standard duration corresponding to the control command;

[0039] If so, the hydraulic robotic arm will be stopped and a fault message will be uploaded.

[0040] Optional, also includes:

[0041] The hydraulic oil temperature of the hydraulic robotic arm is detected, and the hydraulic oil viscosity corresponding to the hydraulic oil temperature is calculated using a temperature-viscosity relationship model;

[0042] Adjust the driving current of the proportional electromagnets in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the viscosity of the hydraulic oil, so as to eliminate the response delay caused by the change in hydraulic oil viscosity;

[0043] Adjust the position of the valve core in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the viscosity of the hydraulic oil in order to compensate for the flow gain characteristics of the hydraulic actuator.

[0044] This application also provides a control system for a hydraulic robotic arm. The hydraulic robotic arm includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body, a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are disposed at the end of the stick body. The control system of the hydraulic robotic arm includes:

[0045] A rotation angle determination module is used to detect the rotation angle of the rotation platform using the rotation encoder;

[0046] A boom lifting angle determination module is used to detect the boom lifting angle using the boom angle sensor; wherein, the boom lifting angle is the angle between the slewing support column and the boom body;

[0047] The telescopic length determination module is used to detect the telescopic length of the telescopic arm body using a telescopic arm length sensor;

[0048] A stick angle determination module is used to detect the stick angle using the stick angle sensor; wherein, the stick angle is the angle between the stick body and the telescopic boom body;

[0049] The control module is configured to, upon receiving a control command, generate current pose information based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle, and perform control operations on the target valve group corresponding to the control command based on the current pose information; wherein, the target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group.

[0050] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the control method for the hydraulic robotic arm described above.

[0051] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the hydraulic robotic arm described above.

[0052] This application provides a control method for a hydraulic robotic arm. This method utilizes a rotary encoder, boom angle sensor, telescopic boom length sensor, and stick angle sensor on the hydraulic robotic arm to detect parameters, obtaining the slewing angle of the rotary platform, the boom lifting angle, the telescopic boom body's extension length, and the stick angle, in order to determine the current posture of the hydraulic robotic arm. Upon receiving a control command, this application performs corresponding control on the target valve group based on the pose information corresponding to the slewing angle, boom lifting angle, telescopic boom body's extension length, and stick angle. The above process can selectively execute control operations on one or more of the rotary control valve group, boom control valve group, telescopic boom control valve group, and stick control valve group, thereby automatically completing the control command without relying on manual intervention. Therefore, this application enables high-precision automated control of the hydraulic robotic arm. This application also provides a control system for a hydraulic robotic arm, a storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0053] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1A flowchart illustrating a control method for a hydraulic robotic arm provided in this application embodiment;

[0055] Figure 2 This is a schematic diagram of the structure of a hydraulic robotic arm provided in an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the control valve assembly and sensor layout of a hydraulic robotic arm provided in an embodiment of this application;

[0057] Figure 4 A schematic diagram illustrating the deployment, operation, and retraction logic of a hydraulic robotic arm provided in an embodiment of this application;

[0058] Figure 5 This is a flowchart of a one-click deployment automatic control algorithm provided in an embodiment of this application;

[0059] Figure 6 A schematic diagram of the working state of a hydraulic robotic arm provided in an embodiment of this application;

[0060] Figure 7 A flowchart illustrating an algorithm for automatically moving a hydraulic robotic arm to a target posture, provided in an embodiment of this application;

[0061] Figure 8 This is a schematic diagram of an autonomous one-click operation path planning for a hydraulic robotic arm provided in an embodiment of this application;

[0062] Figure 9 This is a schematic diagram illustrating the implementation principle of a one-click automatic withdrawal control algorithm provided in an embodiment of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] Please see below. Figure 1 , Figure 1 A flowchart illustrating a control method for a hydraulic robotic arm provided in an embodiment of this application.

[0065] Specific steps may include:

[0066] Step A1: Detect the rotation angle of the rotary platform using the rotary encoder;

[0067] This embodiment can be applied to the controller of a hydraulic robotic arm, which includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body (i.e., the main boom), a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are located at the end of the stick body. These attachments, also known as end effectors, are used to perform specific tasks, such as scanning devices, welding torches, and cutting devices. In this solution, each joint of the hydraulic robotic arm is equipped with sensors capable of measuring joint posture; the sensor data allows for real-time monitoring of the three-dimensional posture of the hydraulic robotic arm.

[0068] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a hydraulic robotic arm provided in an embodiment of this application. T1 represents a rotary platform, T2 represents a rotary support column, T3 represents the boom body, T4 represents the telescopic boom body, and T5 represents the stick body.

[0069] Please see Figure 3 , Figure 3 This is a schematic diagram of the control valve group and sensor layout for a hydraulic robotic arm provided in an embodiment of this application. R1 represents the slewing control valve group, R2 represents the boom control valve group, R3 represents the telescopic boom control valve group, R4 represents the stick control valve group, S1 represents the slewing encoder, S2 represents the boom angle sensor, S3 represents the telescopic boom length sensor, and S4 represents the stick angle sensor. The sensors S1-S4 can transmit sensor data to the controller, which can then transmit control commands to the respective actuators to control each control valve group R1-R4. The controller can also transmit data to a human-machine interface via wired or wireless means.

[0070] In this step, the controller continuously receives data from the rotary encoder to determine the current rotation angle of the slewing platform. As the slewing platform rotates, it drives the slewing support column, boom assembly, telescopic boom assembly, stick assembly, and attachments to rotate. The rotary encoder is a sensor that converts mechanical rotation angle into an electrical signal output. The rotation angle determined in this step refers to the rotation angle of the slewing platform. Detecting the rotation angle helps to accurately determine the current posture and make corresponding decisions.

[0071] Step A2: Detect the boom lifting angle using the boom angle sensor;

[0072] The controller continuously receives data from the boom angle sensor to determine the current boom lifting angle, which provides real-time feedback on the boom's attitude. The boom lifting angle (also known as the boom pitch angle) is the angle between the slewing support column and the boom body; specifically, the boom lifting angle refers to the angle between the length direction of the slewing support column (i.e., the direction of the rotation axis of the slewing platform) and the length direction of the boom body. One end of the boom body can be hinged to the slewing support column, and the other end is connected to the telescopic boom body.

[0073] Step A3: Detect the telescopic arm body's telescopic length using a telescopic arm length sensor;

[0074] The controller continuously receives data from the telescopic boom length sensor to determine the current telescopic boom length. In this embodiment, the telescopic boom length can be the difference between the current length of the telescopic boom and its shortest retracted length. This embodiment can set the extension distance of the telescopic boom relative to the boom or base boom as the telescopic boom length. The telescopic boom length is at its minimum when fully retracted and reaches its maximum design value when fully extended.

[0075] Step A4: Detect the stick angle using the stick angle sensor;

[0076] The controller continuously receives data from the stick angle sensor to determine the current stick angle. The stick angle is the angle between the stick body and the telescopic boom body, specifically the angle between the length direction of the stick body and the length direction of the telescopic boom body.

[0077] Step A5: If a control command is received, generate current position information based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle, and perform the control operation corresponding to the control command on the target valve group based on the current position information;

[0078] In this embodiment, current pose information can be generated based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle. According to the control command, a target valve group is selected from the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group. That is, the target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group.

[0079] The aforementioned control commands can be automatic deployment commands, automatic operation commands, automatic retraction commands, etc., to enable the hydraulic robotic arm to perform one-click deployment, one-click operation, or one-click retraction. In this embodiment, the target valve group can be controlled according to the current position information based on the control commands corresponding to these commands.

[0080] This embodiment utilizes a rotary encoder, boom angle sensor, telescopic boom length sensor, and stick angle sensor on the hydraulic robotic arm to detect parameters, obtaining the slewing angle of the slewing platform, the boom lifting angle, the telescopic boom body's extension length, and the stick angle to determine the current posture of the hydraulic robotic arm. Upon receiving a control command, this embodiment performs corresponding control on the target valve group based on the pose information corresponding to the slewing angle, boom lifting angle, telescopic boom body's extension length, and stick angle. This process can selectively execute control operations on one or more of the slewing control valve group, boom control valve group, telescopic boom control valve group, and stick control valve group, thereby automatically completing the control command without relying on manual intervention. Therefore, this embodiment enables high-precision automated control of the hydraulic robotic arm.

[0081] As for Figure 1 In a further description of the corresponding embodiment, to save space, the hydraulic robotic arm can be in a retracted position when not in operation. The aforementioned retracted position refers to the state where the hydraulic robotic arm has rotated to a specific angle, the boom body has lowered to a specific angle, the telescopic boom body has retracted to its shortest length, and the stick has been retracted. If the control command is an automatic deployment command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including the following steps:

[0082] Step B1: Determine whether the hydraulic robotic arm is in the retracted position state based on the current pose information; if yes, proceed to step B2; if no, do not respond to the control command and end the process.

[0083] Step B2: Analyze the automatic deployment command to obtain the first angle of the boom body, the second angle of the slewing platform, and the third angle of the stick body.

[0084] Step B3: Control the boom body to lift using the boom control valve group so that the boom lifting angle is equal to the first angle.

[0085] Step B4: Control the rotation of the slewing platform by means of the slewing control valve group so that the slewing angle of the slewing platform is equal to the second angle.

[0086] Step B5: Control the stick body through the stick control valve group so that the stick angle is equal to the third angle.

[0087] The hydraulic robotic arm can be deployed with one click by executing the above steps B1-B5, which can change the hydraulic robotic arm from the retracted position state to the deployed position state.

[0088] As for Figure 1In a further description of the corresponding embodiment, if the control command is an automatic operation command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including the following steps:

[0089] Step C1: Determine whether the hydraulic robotic arm is in the deployed position based on the current pose information; if yes, proceed to step C2; if no, do not respond to the control command and end the process.

[0090] Step C2: Parse the automatic operation command to obtain the rotation angle range, operation step length, operation height, and operation posture angle.

[0091] Step C3: Determine the current turning radius.

[0092] The aforementioned current slewing radius refers to the distance that needs to be achieved between the attachment center and the slewing axis of the slewing platform.

[0093] Step C4: Adjust the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius so that the hydraulic robotic arm meets the first constraint condition, the second constraint condition, and the third constraint condition;

[0094] The first constraint is that the distance between the attachment and the surface of the work object is equal to the working height; the second constraint is that the distance between the attachment and the rotation axis of the slewing platform is equal to the current rotation radius; and the third constraint is that the angle between the stick body and the surface of the work object is equal to the working posture angle.

[0095] During the adjustment process, the sensors continuously monitor the changes in the boom lifting angle, telescopic length, and stick angle, and feed this data back to the controller. The controller dynamically adjusts the actions of each control valve group based on the difference between the feedback data and the target value until all constraints are met.

[0096] Step C5: Adjust the slewing control valve group so that the slewing platform drives the attachment to move along the target arc path; wherein the target arc path is determined according to the slewing angle range and the current slewing radius.

[0097] Step C6: Determine whether the telescopic boom body's telescopic length is equal to the maximum extension length; if yes, determine that the automatic operation has been completed; if no, determine a new current slewing radius based on the operation's gradual extension, and proceed to step C4 to adjust the boom control valve group, the telescopic boom control valve group, and the stick control valve group based on the current slewing radius.

[0098] Specifically, the above steps can be performed by adding the progressively larger work step to the current turning radius to obtain a new current turning radius.

[0099] The hydraulic robotic arm achieves one-click operation by executing the above steps C1-C6, which allows the hydraulic robotic arm to switch from the deployed position to the working state.

[0100] As for Figure 1 In a further description of the corresponding embodiment, if the control command is an automatic retraction command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including the following steps:

[0101] Step D1: Determine whether the hydraulic robotic arm is in the deployed position or in operation state based on the current pose information; if yes, proceed to step D2; if no, do not respond to the control command and end the process.

[0102] Step D2: Analyze the automatic retraction command to obtain the fourth angle of the boom body, the fifth angle of the slewing platform, and the sixth angle of the stick body.

[0103] Step D3: Control the boom body to lift using the boom control valve group so that the boom lifting angle is equal to the fourth angle.

[0104] Step D4: Control the telescopic arm body to retract to its minimum length state by controlling the telescopic arm control valve group.

[0105] Step D5: Control the stick body through the stick control valve group so that the stick angle is equal to the sixth angle.

[0106] Specifically, in this step, the stick body can be rotated relative to the telescopic boom by the stick control valve group so that the stick angle is equal to the sixth angle.

[0107] Step D6: Control the rotation of the slewing platform through the slewing control valve group so that the slewing angle of the slewing platform is equal to the fifth angle;

[0108] Step D7: Control the lowering of the boom body through the boom control valve group so that the length direction of the boom body is parallel to the horizontal plane.

[0109] The hydraulic robotic arm achieves one-click retraction by executing the above steps D1-D7, which can change the hydraulic robotic arm from the deployed or working state to the retracted state.

[0110] As for Figure 1In a further description of the corresponding embodiment, during the process of performing the control operation corresponding to the control command on the target valve group according to the current pose information, a timer can also be used to record the execution duration of the control command so as to report a fault in case of execution timeout. The specific process is as follows: start the timer and use the timer to record the operation duration of the hydraulic robotic arm executing the control command; determine whether the operation duration is greater than the standard duration corresponding to the control command; if so, control the hydraulic robotic arm to stop working and upload fault prompt information.

[0111] In existing technologies, there is a problem that hydraulic oil temperature affects the control accuracy of hydraulic manipulators. To address this issue, this embodiment provides a solution as follows: The hydraulic oil temperature of the hydraulic manipulator is detected, and the hydraulic oil viscosity corresponding to that temperature is calculated using a temperature-viscosity relationship model. The driving current of the proportional electromagnets in the rotary control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group is adjusted according to the hydraulic oil viscosity to eliminate the response delay caused by changes in hydraulic oil viscosity. The position of the valve cores in the rotary control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group is adjusted according to the hydraulic oil viscosity to compensate for the flow gain characteristics of the hydraulic actuator.

[0112] The above process, by detecting the hydraulic oil temperature and calculating its viscosity, dynamically adjusts the drive current of the proportional electromagnets and the valve core position in each control valve group, effectively eliminating the response delay caused by oil temperature changes and providing real-time compensation for the flow gain of the hydraulic actuator. Therefore, this embodiment can improve the response accuracy and stability of the hydraulic system under different operating conditions, and enhance the adaptability and operational reliability of the robotic arm control.

[0113] When changing attachments, the hydraulic manipulator can automatically identify the attachment type through radio frequency identification, code identification, etc., and load the corresponding control parameters (such as maximum extension length, recommended working angle, torque limit value, etc.) to improve the convenience of the hydraulic manipulator.

[0114] The process described in the above embodiments is illustrated below through examples in practical applications.

[0115] In related technologies, the requirements for the intelligent operation capabilities of hydraulic robotic arms are constantly increasing. The use of intelligent functions can help equipment operators reduce operational risks, lower operational difficulty, reduce operator fatigue, and improve operational accuracy during long-term, regular path or reciprocating operation modes. Therefore, researching efficient, rigorous, safe, and intelligent operation control algorithms to reduce the workload of operators and improve the ease of system operation is a technical problem that needs to be solved in related technologies.

[0116] To address the technical problems existing in the aforementioned related technologies, this embodiment provides an intelligent functional control scheme for a hydraulic robotic arm. This scheme comprises a hydraulic robotic arm control system consisting of various sensors, human-machine interface devices, control units, intelligent control algorithms, actuators, hydraulic components, electrical components, working attachments, and mechanical structures. This embodiment can first collect sensor information from the hydraulic robotic arm and then calculate the robotic arm's posture in real time. This embodiment designs an intelligent control system and intelligent control algorithm for the robotic arm. Based on received control mode commands, the control system can achieve intelligent motion control of the robotic arm.

[0117] Operators transmit control commands to the controller via a human-machine interface (HMI). Upon receiving these commands, the controller's intelligent control algorithm processes them and outputs control signals through electrical wiring harnesses to the corresponding control valve groups (slewing control valve group, boom control valve group, telescopic boom control valve group, and stick control valve group). Each control valve group distributes hydraulic energy to the slewing motor, boom cylinder, telescopic boom cylinder, and stick cylinder. The movement of these cylinders drives the movement of the slewing support column, boom, telescopic boom, and stick, ultimately changing the position of the end effector to meet operational requirements. The relative positions of each structure are acquired through slewing encoders, boom angle sensors, telescopic boom length sensors, and stick angle sensors mounted on them. Sensor data is transmitted in real-time to the controller via electrical wiring harnesses for analysis and processing, and then displayed on the HMI for operator viewing. All equipment is mounted on a work platform, which serves as the power supply, hydraulic supply, load-bearing, and movement vehicle.

[0118] The actuators or devices in this embodiment include a slewing control valve group, a boom control valve group, a telescopic boom control valve group, and a stick control valve group. These control valve groups are used to realize the motion control of each joint of the robotic arm.

[0119] The sensors involved in this embodiment include a rotary encoder, a boom angle sensor, a telescopic boom length sensor, and a stick angle sensor. These sensors are used to collect the posture information of each joint of the robotic arm, and the posture information can guide the operation of intelligent algorithms.

[0120] The controller of the hydraulic robotic arm receives control commands from the human-machine interface (HMI). Based on the mode commands from the HMI and the calculated posture feedback of the robotic arm, the controller controls the actions of various actuators and components, thereby achieving intelligent control of the robotic arm. The HMI includes a signal input unit, a signal processing unit, a signal transmission and communication unit, and a display unit. The HMI can collect operator commands and display various status information, forming a complete human-machine interaction system. Upon receiving control commands, the control system runs an intelligent control algorithm, executing different intelligent control processes according to different commands.

[0121] Please see Figure 4 , Figure 4 This is a schematic diagram of the logic for deploying, operating and retracting a hydraulic robotic arm provided in an embodiment of this application. The diagram shows how the hydraulic robotic arm switches between the deployed state, the operating state and the retracted state.

[0122] The ready state of the hydraulic robotic arm is the fully retracted state, where it is folded and extended into its designated position. In the fully retracted state, the rotation angle of the slewing support column is at its minimum, the boom is in its lowered position, the angle between the stick and the boom should be at its minimum, and the telescopic boom is fully retracted. The hydraulic robotic arm can move from the retracted state to the extended state, and can only continue working in the extended state. Retraction can be performed from both the working state and the extended state. For safe and efficient control of the hydraulic robotic arm, the operator's control logic should be consistent with... Figure 4 Consistent.

[0123] During operation, the robotic arm needs to be manually extended from the retracted state. Spatially, the arm is first raised, then rotated, and then the stick is extended and swung outward to a certain angle. Only when the above actions are completed is the extension considered complete, and the next operation can be carried out.

[0124] Once fully extended, the operator can manually control the robotic arm to perform operations. In three-dimensional space, the ground clearance of the attachments must be precisely controlled within a certain range to ensure operational reliability while preventing contact with the ground. Depending on the task requirements, the boom direction must also be kept approximately perpendicular to the ground during operation, ensuring the attachment plane is horizontal. The boom stops rotating immediately when it reaches its maximum angle. In this embodiment, after further extending the telescopic boom to a certain length, the rotating platform can then operate from the maximum rotation angle to the minimum rotation angle, and so on, until the telescopic boom extends to its maximum stroke, at which point the operation is considered complete.

[0125] After the operation is completed, the operator can manually control the robotic arm to retract to the retracted state. Spatially, the process involves first raising the boom, then retracting the telescopic boom, then retracting the stick, controlling the boom to rotate back to its original position, and finally lowering the boom. Only when all the above actions are completed is the retraction considered complete.

[0126] The three operation modes described above—"deploy," "operate," and "retreat"—all have certain operational rules and followable paths. The entire system can be divided into three main stages: observation, calculation and decision-making, and execution. Therefore, it can be designed as an intelligent auxiliary operation control system driven by an automatic control algorithm. Under certain conditions, this control system can automatically control the robotic arm to perform "one-click deployment," "one-click operation," and "one-click retreat" actions. The "one-click" refers to the process of someone issuing commands and observing the real-time status within the loop. When an anomaly occurs or automatic control needs to be stopped, the operator can immediately take over the operation and terminate the automatic operation process. This solution applies the hydraulic robotic arm to a hydraulically driven scenario, rather than a conventional electrically driven robotic arm. In this application scenario, it controls the control valve group, rather than using a motor or pneumatic power source. The "one-click deployment," "one-click operation," and "one-click retreat" processes are special operation processes with specific trajectories and steps related to the work platform, rather than ordinary point-to-point operations.

[0127] Please see Figure 5 , Figure 5 A flowchart of a one-click deployment automatic control algorithm provided in this application embodiment specifically includes the following steps:

[0128] S101: The control system acquires data from each sensor in real time.

[0129] Specifically, the control system can collect data from various posture detection sensors on the hydraulic robotic arm in real time.

[0130] S102: Calculate and process the data collected by each sensor to obtain the current status information of the robotic arm.

[0131] Specifically, this step processes and calculates the collected sensor data to determine the current posture of each joint of the robotic arm. This posture data can then be used to determine whether the subsequent "one-click deployment" is complete.

[0132] S103: Determine whether a "one-click expand" control command has been received.

[0133] Before automatic operation, the operator needs to confirm that the robotic arm is in the retracted position before issuing a "one-click deployment" control command to the control system. If no "one-click deployment" control command is received, the process returns to step S101. Specifically, this embodiment can automatically determine whether the robotic arm is in the retracted position based on the three-dimensional posture of the robotic arm obtained from the data acquired by the sensors of each joint.

[0134] S104: Determine whether the retraction is in place.

[0135] Specifically, this step can determine whether the robotic arm is in the retracted position. If so, step S105 is executed; if it is not in the retracted position, the process returns to S101.

[0136] S105: Start timing for "one-click unfold".

[0137] Specifically, when the system is in the retracted position, it receives the "one-click deployment" control command and automatically begins the "one-click deployment" action control steps, and starts the timer.

[0138] S106: Determine if "One-click Expand" has timed out.

[0139] The control system starts timing when the "one-key deployment" action begins. If the control system finds that the timer value has not reached the preset time, it will continue or start the "one-key deployment" control and jump to S108. If the control system finds that the timer value has reached the preset time, but the robotic arm has not yet reached the deployment posture, the control system will determine that there is a fault in the "one-key deployment" control process. At this time, the "one-key deployment" action has timed out and enters S107.

[0140] S107: Exit the "One-Click Expand" automatic control process.

[0141] Specifically, upon entering S107, the control system immediately aborts the "one-click deployment" control process and ends.

[0142] S108: The control system automatically controls the boom to lift to the preset angle value.

[0143] Through the above steps, the control system can automatically control the lifting and lowering of the boom.

[0144] S109: Determine if the boom angle is in place.

[0145] Specifically, this embodiment can determine in real time whether the current lifting angle of the boom has reached the preset angle. If the preset value is reached, the boom lifting action will be stopped immediately and the S110 step will continue; otherwise, the boom lifting action control in S108 will continue.

[0146] S110: The control system automatically controls the rotary motor to rotate the robotic arm to a preset angle value.

[0147] This step allows the robotic arm to slowly rotate automatically, thereby controlling the rotation of the rotating support column.

[0148] S111: Determine if the rotation angle has been reached.

[0149] This step can determine in real time whether the rotation angle of the slewing support column has reached the preset angle. If the preset angle is reached, the slewing action output will be stopped immediately and the S112 step will continue; otherwise, return to S110 to continue the slewing action control.

[0150] S112: The control system automatically controls the stick to swing outward to a position where the angle between the stick and the boom is a preset value, so as to realize the control of the outward swing stick action.

[0151] This step involves automatic control of the stick's outward and inward movement. The control system controls the actuators to drive the stick outward to a certain preset angle.

[0152] S113: Determine if the boom angle is in place.

[0153] Specifically, this step can determine whether the stick action is completed. If the angle between the stick and the boom meets the requirements for the robotic arm to extend, then the entire "one-click extension" automatic control process is complete, and the system runs to step S107 and automatically exits the "one-click extension" control process. If the stick angle is not in place, it will return to continue the stick outward swing action control.

[0154] The implementation principle of the "one-click operation" control algorithm in this embodiment is as follows: The operator sends the "one-click operation" control command to the control system. The control system calculates the angle of the slewing support column, the boom angle, the telescopic boom length, and the angle between the stick and the boom during operation by using the pre-set operation parameters and its own parameters. Then, it drives the movement of each joint by controlling the action of the actuator, so that the spatial trajectory of the end effector of the robotic arm meets the pre-set operation parameter requirements.

[0155] The pre-set operating parameters in this embodiment are as follows:

[0156] Minimum turning angle of operation This is used to limit the minimum rotation angle of the rotary support column during robotic arm operation, i.e., the angle at which the rotary support column rotates. It should be greater than or equal to .

[0157] Maximum rotation angle of operation Used to limit the maximum rotation angle of the rotary support column during robotic arm operation, i.e., the angle at which the rotary support column rotates. It should be less than or equal to .

[0158] Homework progressing gradually The step value is used to limit the vertical distance of the attachment relative to the rotation center axis when the robotic arm is working. After one rotation operation trajectory is completed, it automatically steps once to the new working radius to continue the rotation operation.

[0159] The working height H is used to control the ground clearance of the working attachments. During operation, the ground clearance must be kept close to the value of H.

[0160] Please see Figure 6 , Figure 6 This application provides a schematic diagram of the working state of a hydraulic robotic arm, including its own parameters:

[0161] The height E of the slewing platform above the horizontal ground is the height of the lowest point of the slewing platform.

[0162] The height C of the slewing support column is the distance from the lowest point of the slewing support column to the boom rotation axis.

[0163] Rotation center of the rotary platform ;

[0164] Connection position between slewing support column and boom body ;

[0165] Connection position between the telescopic boom body and the stick body ;

[0166] Connection position between the stick body and the attachment ;

[0167] boom length L1;

[0168] Telescopic arm length L3;

[0169] The total length of the boom and telescopic boom is L4;

[0170] The total length of the pole and attachments is L2;

[0171] The radius of rotation X of the attachment;

[0172] boom angle , which represents the angle between the boom and the slewing support column;

[0173] Angle of the pole , which represents the angle between the boom and the telescopic arm;

[0174] Working height H.

[0175] During "one-click operation," the control system needs to calculate the current slewing angle of the rotary support column, boom angle, telescopic boom length, and stick angle in real time based on changes in the attachment's working path. In the algorithm process for the hydraulic robotic arm to automatically move to the target posture, given the target slewing angle of the rotary support column, boom angle, telescopic boom length, and stick angle, the intelligent control system automatically controls the movement of each joint of the robotic arm, ensuring that the current posture of the robotic arm meets the requirements of the target posture and the operating path.

[0176] Please see Figure 7 , Figure 7 A flowchart of an algorithm for automatically moving a hydraulic robotic arm to a target posture, provided in this application embodiment, specifically includes the following steps:

[0177] S201: The control system acquires data from each sensor in real time.

[0178] The control system collects the current position and posture information of the hydraulic robotic arm in real time.

[0179] S202: Calculate and process the data collected by each sensor to obtain the current status information of the robotic arm.

[0180] This step involves converting and processing the collected data.

[0181] S203: The control system automatically controls the boom to reach the target angle value.

[0182] This step controls the lifting angle of the robotic arm based on the target lifting angle of the boom joint of the preset path. It judges the difference between the preset angle and the current real-time angle. If the difference is greater than the allowable error range, it controls the movement in the opposite direction of the error reduction until it approaches the preset angle. At this time, the error angle should be less than or equal to the allowable error range.

[0183] S204: The control system automatically controls the telescopic arm to retract until the extension reaches the target length.

[0184] This step controls the extension length of the robotic arm's telescopic arm based on the target angle of the telescopic arm joint along the preset path. It judges the difference between the preset length and the current real-time length. If the difference is greater than the allowable error range, it controls the arm to move in the opposite direction of the error reduction until it approaches the preset angle. At this point, the error angle should be less than or equal to the allowable error range.

[0185] S205: The control system automatically controls the stick to retract to the target angle value with the boom.

[0186] This step controls the outward swing angle of the robotic arm's stick based on the target angle of the stick joint along the preset path. It judges the difference between the preset angle and the current real-time angle. If the difference is greater than the allowable error range, it controls the robotic arm to move in the opposite direction of reducing the error until it approaches the preset angle range. At this point, the error angle should be less than or equal to the allowable error range.

[0187] S206: The control system automatically controls the rotation motor to rotate the robotic arm to the target angle value, thereby realizing the rotation control of the rotation support column.

[0188] This step controls the left and right rotation angles of the robotic arm based on the target angle of the rotary joint along the preset path. It judges the difference between the preset angle and the current real-time angle. If the difference is greater than the allowable error range, it controls the robotic arm to move in the opposite direction where the error decreases until it approaches the preset angle range. At this point, the error angle should be less than or equal to the allowable error range.

[0189] S207: Determine if the angle or length of each joint has reached the target value.

[0190] This step compares the current rotation angle, boom angle, telescopic boom length, and stick angle of the robotic arm with preset values. If all joint angles or lengths are within the error range of the target posture value, the robotic arm is considered to have completed its planned movement, and the process exits, ending the "one-click operation" process. If not, it returns to step S201 to continue data acquisition, processing, and control of the corresponding joint movements.

[0191] Please see Figure 8 , Figure 8 This is a schematic diagram of an autonomous one-click operation path planning method for a hydraulic robotic arm, provided in an embodiment of this application. Indicates the rotation angle. The angles represent the scanning range, and A, B, C, D, and E represent the path points in the operation process. This indicates that the operation is progressing gradually. The hydraulic robotic arm mounted on the platform can move sequentially to A, B, C, D, and E.

[0192] During operation, the robotic arm's support platform is in a horizontal, stationary state. First, the robotic arm has arrived... Figure 8 The work position A shown is also the target position for "one-click deployment," i.e., the angle during rotation. Should equal to At this point, the operator issues a "one-click operation" control command, and the operation process proceeds in the following three steps.

[0193] Step 1: Run to the starting point of "One-Click Job".

[0194] Specifically, the operator can manually send a "one-click operation" command to the control system for the robotic arm. Upon receiving the command, the operation controller first confirms the status of the robotic arm. After confirming that all posture detection sensors are online and meet the operating conditions, it automatically controls the robotic arm to move to the starting position. The slewing support column rotates to a position aligned with the left side of the platform. Angle value position, boom angle , boom length L3 and stick angle The robotic arm calculates and automatically moves to the target angle or length position based on the data requirements of the starting position. When the robotic arm reaches the starting point, it moves to the position shown in the image. Figure 8The path point A is shown in the autonomous operation planning path. At this point, the telescopic boom should be at its shortest extension, the stick should be perpendicular to the horizontal ground, and the ground clearance H of the working attachments should meet the parameter requirements set by the operator.

[0195] Step 2: Trajectory planning and line-following operation.

[0196] Specifically, when the automatic operation function is running, after the attachment reaches path point A, it rotates according to the working surface angle set by the operator. This limits the maximum rotation angle of the slewing support column. During trajectory operation, the rotation angle will change from... Slowly change to Value. Within a single operation radius, the robotic arm will rotate. Angle, and = - The operation controller automatically controls the robotic arm's end effector to move automatically along points A, B, C, D to E according to the planned settings, until the end effector reaches the maximum extension length of its telescopic arm mechanism. This continues until the slewing support column reaches its maximum rotation angle. Or minimum angle When the rotation stops, the robotic arm will gradually lengthen. The value is used to calculate the new boom angle. , boom length L3 and stick angle In the above process, the extension of the telescopic arm length L3 is not necessarily equal to... value, The value is related to the rotation radius X of the attachment, that is, the rotation radius during stepping. By repeating this process, the entire sector-shaped work area can be completely covered.

[0197] Step 3: Stop "One-Click Operation".

[0198] Specifically, this embodiment can automatically end the operation process when the robotic arm reaches its maximum reachable working range, and feed back the operation status in real time to the status display area on the control panel for the operator to monitor and view.

[0199] Please see Figure 9 , Figure 9 The schematic diagram illustrating the implementation principle of a one-click automatic withdrawal control algorithm provided in this application embodiment specifically includes the following steps:

[0200] S301: The control system acquires data from each sensor in real time.

[0201] Specifically, in this step, the control system collects data from the sensors at each joint of the robotic arm in real time.

[0202] S302: Calculate and process the data collected by each sensor to obtain the current status information of the robotic arm.

[0203] Specifically, this step involves converting and processing the collected data to obtain the robotic arm's posture information.

[0204] S303: Determine whether a "one-click withdrawal" control command has been received.

[0205] Specifically, before automatic operation, the operator needs to confirm that the robotic arm is in the extended position or normal operating position before issuing a "one-click retraction" control command to the control system. If no "one-click retraction" control command is received, the program automatically returns to S301.

[0206] S304: Determine whether the hydraulic robotic arm is in the deployed state.

[0207] Specifically, this step determines whether the robotic arm is in the deployed state. If so, step S305 is executed; otherwise, the process returns to S301.

[0208] S305: Start timing for "one-click withdrawal".

[0209] Specifically, in this step, after receiving the "one-click retraction" control command, the control system automatically begins the "one-click retraction" action control steps and starts the timer.

[0210] S306: Determine if "One-click Cancel" has timed out.

[0211] The control system starts timing when the "one-key retraction" action begins. If the control system finds that the timer value has not reached the preset time, it continues or starts the "one-key retraction" control and jumps to step S308. If the control system finds that the timer value has reached the preset time, but the robotic arm has not yet reached the unfolded posture, the control system judges that there is a fault in the "one-key retraction" control process. At this time, the "one-key retraction" action has timed out and enters step S307.

[0212] S307: End the "one-click retraction" automatic control process.

[0213] In this step, the control system immediately aborts the "one-click withdrawal" control process and ends the process.

[0214] S308: The control system automatically controls the boom to lift to the preset angle value.

[0215] In this step, the control system first automatically controls the lifting and lowering of the boom.

[0216] S309: Determine whether the boom has been raised to the correct position.

[0217] Specifically, this step can determine in real time whether the current lifting angle of the boom has reached the preset angle. If it reaches the preset value, the boom lifting action will stop immediately and continue to step S310; otherwise, continue to control the boom lifting action in step S308.

[0218] S310: The control system automatically controls the telescopic arm to retract to the origin position with the minimum extension.

[0219] Specifically, this step involves controlling the telescopic arm's movement, automatically retracting the robotic arm's telescopic arm to achieve the telescopic arm's retraction action.

[0220] S311: Determine whether the telescopic boom has been retracted into position.

[0221] Specifically, this step can determine in real time when the telescopic arm reaches the preset angle. If the preset length is reached, the telescopic arm telescopic action output will be stopped immediately and the S312 step will continue; otherwise, return to S310 to continue the telescopic arm telescopic action control.

[0222] S312: The control system automatically controls the boom to retract to the origin position where the angle between the boom and the stick is the minimum.

[0223] This step allows for automatic control of the stick's outward and inward movement. The control system controls the actuators to drive the stick outward to a certain preset angle.

[0224] S313: Determine if the boom angle is in place.

[0225] This step determines whether the stick movement is complete. If the angle between the stick and the boom meets the retraction requirements of the robotic arm, and the preset stick angle is reached, the stick movement output will stop automatically and the process will continue to step S314. Otherwise, the process will return to S312 to continue the automatic control of the stick outward and inward movement.

[0226] S314: The control system automatically controls the rotary motor to rotate the hydraulic robotic arm to the minimum angle origin position.

[0227] This step allows for the control of the rotation of the slewing support column, enabling the robotic arm to rotate slowly.

[0228] S315: Determine if the rotation angle has been reached.

[0229] This step can determine in real time when the rotation angle of the slewing support column reaches the preset angle. If the preset angle is reached, the slewing action output will be stopped immediately and the S316 step will continue; otherwise, return to continue the S314 slewing action control.

[0230] S316: The control system automatically controls the boom to lower to the minimum angle origin position;

[0231] This step allows for control of the boom's movement, enabling the hydraulic robotic arm to be lowered slowly.

[0232] S317: Determine if the boom angle is in place.

[0233] This step can determine the boom angle in real time. If the preset angle is reached, the boom descent action output will be stopped immediately and the S317 step will continue; otherwise, return to the S316 boom descent action control.

[0234] Once the above actions are completed, the entire "one-click retraction" automatic control process is finished. The system exits the action control flow to step S307 and automatically exits the "one-click retraction" control flow.

[0235] This embodiment can calculate the position of the end effector in real time, allowing operators to be aware of the current operating status of the robotic arm. This provides valuable reference information for both manual and automatic operations. When operators find that the status does not meet operational requirements, they can promptly detect and pause the manual or automatic operation process. The "one-click deployment," "one-click operation," and "one-click retraction" functions provided in this embodiment help to overcome the drawbacks of manual operation, such as high risk, complexity, fatigue, and inaccuracy. The one-click function simplifies the operation process, allowing the control system to autonomously complete complex and repetitive tasks.

[0236] This application provides a control system for a hydraulic robotic arm. The hydraulic robotic arm includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body, a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are disposed at the end of the stick body. The control system of the hydraulic robotic arm includes:

[0237] A rotation angle determination module is used to detect the rotation angle of the rotation platform using the rotation encoder;

[0238] A boom lifting angle determination module is used to detect the boom lifting angle using the boom angle sensor; wherein, the boom lifting angle is the angle between the slewing support column and the boom body;

[0239] The telescopic length determination module is used to detect the telescopic length of the telescopic arm body using a telescopic arm length sensor;

[0240] A stick angle determination module is used to detect the stick angle using the stick angle sensor; wherein, the stick angle is the angle between the stick body and the telescopic boom body;

[0241] The control module is configured to, upon receiving a control command, generate current pose information based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle, and perform control operations on the target valve group corresponding to the control command based on the current pose information; wherein, the target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group.

[0242] This embodiment utilizes a rotary encoder, boom angle sensor, telescopic boom length sensor, and stick angle sensor on the hydraulic robotic arm to detect parameters, obtaining the slewing angle of the slewing platform, the boom lifting angle, the telescopic boom body's extension length, and the stick angle to determine the current posture of the hydraulic robotic arm. Upon receiving a control command, this embodiment performs corresponding control on the target valve group based on the pose information corresponding to the slewing angle, boom lifting angle, telescopic boom body's extension length, and stick angle. This process can selectively execute control operations on one or more of the slewing control valve group, boom control valve group, telescopic boom control valve group, and stick control valve group, thereby automatically completing the control command without relying on manual intervention. Therefore, this embodiment enables high-precision automated control of the hydraulic robotic arm.

[0243] Furthermore, if the control command is an automatic deployment command, the process by which the control module performs the control operation corresponding to the control command on the target valve group based on the current pose information includes: determining whether the hydraulic robotic arm is in the retracted position state based on the current pose information; if so, parsing the automatic deployment command to obtain the first angle of the boom body, the second angle of the slewing platform, and the third angle of the stick body; controlling the boom body to lift through the boom control valve group so that the boom lifting angle is equal to the first angle; controlling the slewing platform to rotate through the slewing control valve group so that the slewing angle of the slewing platform is equal to the second angle; and controlling the stick body through the stick control valve group so that the stick angle is equal to the third angle.

[0244] Furthermore, if the control command is an automatic operation command, the process by which the control module performs the control operation corresponding to the control command on the target valve group based on the current pose information includes: determining whether the hydraulic robotic arm is in the extended position state based on the current pose information; if so, parsing the automatic operation command to obtain the slewing angle range, working step length, working height, and working posture angle; determining the current slewing radius; and adjusting the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius to make the hydraulic robotic arm meet the first constraint condition, the second constraint condition, and the third constraint condition; wherein, the first constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height, the third constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height, the fourth constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height, the fifth constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height, the sixth ... The second constraint is that the distance between the attachment and the slewing axis of the slewing platform is equal to the current slewing radius. The third constraint is that the angle between the stick body and the surface of the work object is equal to the working posture angle. The slewing control valve group is adjusted so that the slewing platform drives the attachment to move along the target arc path. The target arc path is determined based on the slewing angle range and the current slewing radius. It is determined whether the extension length of the telescopic boom body is equal to the maximum extension length. If yes, it is determined that the automatic operation has been completed. If not, a new current slewing radius is determined based on the gradual extension of the operation, and the step of adjusting the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius is initiated.

[0245] Furthermore, the process by which the control module determines the new current turning radius based on the progressive length of the operation includes: adding the progressive length of the operation to the current turning radius to obtain the new current turning radius.

[0246] Furthermore, if the control command is an automatic retraction command, the process by which the control module performs the control operation corresponding to the control command on the target valve group based on the current pose information includes: determining whether the hydraulic robotic arm is in the deployed position or in operation state based on the current pose information; if so, parsing the automatic retraction command to obtain the fourth angle of the boom body, the fifth angle of the slewing platform, and the sixth angle of the stick body; controlling the boom body to lift through the boom control valve group so that the boom lifting angle is equal to the fourth angle; controlling the telescopic boom body to retract to its minimum length state through the telescopic boom control valve group; controlling the stick body through the stick control valve group so that the stick angle is equal to the sixth angle; controlling the slewing platform to rotate through the slewing control valve group so that the slewing angle of the slewing platform is equal to the fifth angle; and controlling the boom body to lower through the boom control valve group so that the length direction of the boom body is parallel to the horizontal plane.

[0247] Furthermore, during the process of performing the control operation corresponding to the control command on the target valve group based on the current pose information, the method also includes:

[0248] The timing module is used to start a timer and record the operation time of the hydraulic robotic arm executing the control command; it is also used to determine whether the operation time is greater than the standard time corresponding to the control command; if so, it controls the hydraulic robotic arm to stop working and uploads fault prompt information.

[0249] Furthermore, it also includes:

[0250] The error compensation module is used to detect the hydraulic oil temperature of the hydraulic robotic arm and calculate the hydraulic oil viscosity corresponding to the hydraulic oil temperature using a temperature-viscosity relationship model; it is also used to adjust the drive current of the proportional electromagnets in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the hydraulic oil viscosity, so as to eliminate the response delay caused by the change in hydraulic oil viscosity; it is also used to adjust the position of the valve core in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the hydraulic oil viscosity, so as to compensate for the flow gain characteristics of the hydraulic actuator.

[0251] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0252] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0253] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0254] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0255] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for a hydraulic robotic arm, characterized in that, The hydraulic robotic arm includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body, a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are located at the end of the stick body. The control method for the hydraulic robotic arm includes: The rotation angle of the rotary platform is detected using the rotary encoder. The boom lifting angle is detected using the boom angle sensor; wherein, the boom lifting angle is the angle between the slewing support column and the boom body; The telescopic arm length sensor is used to detect the telescopic arm body's telescopic length. The stick angle is detected using the stick angle sensor; wherein, the stick angle is the angle between the stick body and the telescopic boom body; If a control command is received, current position information is generated based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle. The target valve group is then subjected to the control operation corresponding to the control command based on the current position information. The target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group. Wherein, if the control command is an automatic operation command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including: Determine whether the hydraulic robotic arm is in the deployed position based on the current pose information; If so, the automatic operation command is parsed to obtain the rotation angle range, operation step length, operation height, and operation posture angle; Determine the current turning radius; The boom control valve group, the telescopic boom control valve group, and the stick control valve group are adjusted according to the current slewing radius to ensure that the hydraulic robotic arm meets the first constraint condition, the second constraint condition, and the third constraint condition. The first constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height; the second constraint condition is that the distance between the attachment and the slewing axis of the slewing platform is equal to the current slewing radius; and the third constraint condition is that the angle between the stick body and the surface of the work object is equal to the working posture angle. The slewing control valve group is adjusted so that the slewing platform drives the attachment to move along the target circular arc path; wherein, the target circular arc path is determined according to the slewing angle range and the current slewing radius; Determine whether the telescopic arm body's telescopic length is equal to its maximum extension length; If so, then the automatic operation is considered to have been completed. If not, then a new current slewing radius is determined based on the gradual progress of the operation, and the process proceeds to the step of adjusting the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius.

2. The control method for the hydraulic robotic arm according to claim 1, characterized in that, If the control command is an automatic deployment command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including: Determine whether the hydraulic robotic arm is in the retracted position state based on the current pose information; If so, the automatic deployment command is parsed to obtain the first angle of the boom body, the second angle of the slewing platform, and the third angle of the stick body; The boom body is raised by controlling the boom control valve group so that the boom raising angle is equal to the first angle. The rotation of the slewing platform is controlled by the slewing control valve group so that the slewing angle of the slewing platform is equal to the second angle; The stick body is controlled by the stick control valve group to make the stick angle equal to the third angle.

3. The control method for the hydraulic robotic arm according to claim 1, characterized in that, Determining the new current turning radius based on the gradual increase in the working distance includes: The new current turning radius is obtained by adding the progressively larger turning radius to the current turning radius.

4. The control method for the hydraulic robotic arm according to claim 1, characterized in that, If the control command is an automatic retraction command, then the target valve group is subjected to the control operation corresponding to the control command based on the current pose information, including: Determine whether the hydraulic robotic arm is in the deployed or operational state based on the current pose information; If so, the automatic retraction command is analyzed to obtain the fourth angle of the boom body, the fifth angle of the slewing platform, and the sixth angle of the stick body; The boom body is raised by controlling the boom control valve group so that the boom raising angle is equal to the fourth angle. The telescopic arm body is controlled to retract to its minimum length state by the telescopic arm control valve group; The stick body is controlled by the stick control valve group to make the stick angle equal to the sixth angle; The rotation of the slewing platform is controlled by the slewing control valve group so that the slewing angle of the slewing platform is equal to the fifth angle; The boom body is lowered by controlling the boom control valve group so that the length direction of the boom body is parallel to the horizontal plane.

5. The control method for the hydraulic robotic arm according to claim 1, characterized in that, The process of performing the control operation corresponding to the control command on the target valve group based on the current pose information also includes: Start a timer and use the timer to record the operation time for the hydraulic robotic arm to execute the control command; Determine whether the operation duration is greater than the standard duration corresponding to the control command; If so, the hydraulic robotic arm will be stopped and a fault message will be uploaded.

6. The control method for the hydraulic robotic arm according to any one of claims 1 to 5, characterized in that, Also includes: The hydraulic oil temperature of the hydraulic robotic arm is detected, and the hydraulic oil viscosity corresponding to the hydraulic oil temperature is calculated using a temperature-viscosity relationship model; Adjust the driving current of the proportional electromagnets in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the viscosity of the hydraulic oil, so as to eliminate the response delay caused by the change in hydraulic oil viscosity; Adjust the position of the valve core in the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the viscosity of the hydraulic oil in order to compensate for the flow gain characteristics of the hydraulic actuator.

7. A control system for a hydraulic robotic arm, characterized in that, The hydraulic robotic arm includes a slewing mechanism, a boom assembly, a telescopic boom assembly, a stick assembly, and attachments. The slewing mechanism includes a slewing platform, a slewing support column, a slewing control valve group, and a slewing encoder. The boom assembly includes a boom body, a boom control valve group, and a boom angle sensor. The telescopic boom assembly includes a telescopic boom body, a telescopic boom control valve group, and a telescopic boom length sensor. The stick assembly includes a stick body, a stick control valve group, and a stick angle sensor. The boom body is mounted on the slewing support column, the telescopic boom body is connected to the boom body, and the attachments are located at the end of the stick body. The control system of the hydraulic robotic arm includes: A rotation angle determination module is used to detect the rotation angle of the rotation platform using the rotation encoder; A boom lifting angle determination module is used to detect the boom lifting angle using the boom angle sensor; wherein, the boom lifting angle is the angle between the slewing support column and the boom body; The telescopic length determination module is used to detect the telescopic length of the telescopic arm body using a telescopic arm length sensor; A stick angle determination module is used to detect the stick angle using the stick angle sensor; wherein, the stick angle is the angle between the stick body and the telescopic boom body; The control module is configured to, upon receiving a control command, generate current pose information based on the slewing angle, the boom lifting angle, the telescopic length, and the stick angle, and perform control operations corresponding to the control command on the target valve group based on the current pose information; wherein, the target valve group includes any one or a combination of any of the slewing control valve group, the boom control valve group, the telescopic boom control valve group, and the stick control valve group; Wherein, if the control command is an automatic operation command, the process by which the control module performs the control operation corresponding to the control command on the target valve group based on the current pose information includes: Based on the current pose information, determine whether the hydraulic robotic arm is in the extended position. If so, parse the automatic operation command to obtain the rotation angle range, working step length, working height, and working posture angle; determine the current rotation radius; adjust the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current rotation radius to make the hydraulic robotic arm meet the first constraint condition, the second constraint condition, and the third constraint condition; wherein, the first constraint condition is that the distance between the attachment and the surface of the work object is equal to the working height, and the second constraint condition is that the distance between the attachment and the rotation axis of the rotary platform is equal to the current position. The forward slewing radius, the third constraint condition being that the angle between the stick body and the surface of the work object is equal to the working posture angle; adjusting the slewing control valve group to make the slewing platform drive the attachment to move along the target arc path; wherein, the target arc path is determined according to the slewing angle range and the current slewing radius; determining whether the extension length of the telescopic boom body is equal to the maximum extension length; if yes, then determining that the automatic operation has been completed; if not, then determining a new current slewing radius according to the gradual progress of the operation, and proceeding to the step of adjusting the boom control valve group, the telescopic boom control valve group, and the stick control valve group according to the current slewing radius.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor invokes the computer program in the memory to implement the steps of the control method for the hydraulic robotic arm as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the control method for the hydraulic robotic arm as described in any one of claims 1 to 6.

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