Method for controlling construction machine or mechanical arm and control input device

Abstract

According to the method for controlling the engineering machine or the mechanical arm, in the method, a visual space corresponding relation exists between the action of a tool and the control action of a control input device such as a handle, and people can easily learn and master to control the engineering machine or the mechanical arm through the control input device such as the handle. The engineering machine or the mechanical arm is provided with a base, a large arm, a small arm and a tool. According to the method for controlling the engineering machine or the mechanical arm, a handle is used and comprises a center shaft, a rotating handle and a handle base, the center shaft is horizontally or approximately horizontally arranged, the rotating handle is arranged on the center shaft in a forward and reverse rotation mode, and the center shaft can vertically and horizontally swing or move relative to the handle base; a visual corresponding relation is established according to the spatial position of the tail end, away from the handle seat, of the center shaft relative to the handle seat and the spatial position of the tool relative to the base; and according to the change of the spatial position of the tail end of the central shaft, the large arm and the small arm are controlled to act, so that the tool moves to a tool spatial position corresponding to the changed spatial position of the tail end of the central shaft.

Description

Technical Field

[0001] This invention relates to methods and control input devices for operating and controlling engineering machinery, robotic arms, robots, wearable devices, etc. Background Technology

[0002] With the development of technology and the demand for increased productivity, the application of human-controlled equipment is becoming more and more common, including engineering machinery, robotic arms, and bionic equipment. However, most of the current control methods are quite professional and require a long period of training to become proficient in their use.

[0003] Taking excavators as an example, they are essentially robotic arms operated by one person. Currently, the arm's movements are controlled by using left and right joysticks. The relationship between the control actions and the arm's movements is not intuitive, requiring thought or long-term training to operate. This is not conducive to the widespread application of complex machinery that requires manual operation. Summary of the Invention

[0004] This invention provides a method for controlling engineering machinery or robotic arms. In this method, there is an intuitive spatial correspondence between the movement of the tool and the control input device such as a handle. People can easily learn and master the use of handles and other control input devices to control engineering machinery or robotic arms, which is conducive to the popularization of these control-type mechanical equipment. Similarly, this method can be used for robot control and wearable device control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for controlling engineering machinery or robotic arms, wherein the engineering machinery or robotic arms have a base that rotates horizontally relative to a chassis, a large arm that swings up and down relative to the base, a small arm that swings back and forth relative to the large arm, and a tool that swings inward and outward relative to the small arm; a handle arranged horizontally or nearly horizontally on a central axis is used, the handle including a central axis, a throttle, and a handle seat, the throttle being set on the central axis for forward and reverse rotation, and the central axis being able to swing up and down and back and forth or move relative to the handle seat; an intuitive correspondence is established between the spatial position of the end of the central axis away from the handle seat and the spatial position of the tool relative to the base; based on the change in the spatial position of the end of the central axis, the movements of the large arm and small arm are controlled so that the tool moves to a tool spatial position corresponding to the changed spatial position of the end of the central axis.

[0007] In the above-described method of controlling engineering machinery or robotic arms, when the spatial position of the end of the central shaft changes, the control computer calculates the direction, speed, angle, or position of the upper arm and lower arm based on the corresponding change in the tool space position, and outputs motion commands to control the movement of the upper arm and lower arm.

[0008] The above-mentioned method of controlling engineering machinery or robotic arms establishes an intuitive correspondence between the forward and reverse rotation angles of the throttle relative to the central shaft and the swing angle of the tool relative to the forearm. Based on the changes in the forward and reverse rotation angles of the throttle relative to the central shaft, the swing of the tool is controlled so that the direction and angle of the tool's swing relative to the forearm correspond to the direction and angle of the throttle's rotation relative to the central shaft.

[0009] The above-mentioned method of controlling engineering machinery or robotic arms involves the control computer calculating the tool's direction of motion, speed, angle, or position based on the angle of the tool's inward and outward swing corresponding to the forward and reverse rotation angle of the throttle, and then outputting motion commands to control the tool's movement.

[0010] The above-mentioned method of controlling engineering machinery or robotic arms involves the control computer calculating the direction, speed, angle, or position of the upper arm, lower arm, and tool based on the change in the spatial position of the tool corresponding to the change in the spatial position of the tool, and the angle of the tool's inward and outward swing corresponding to the angle of the forward and reverse rotation of the handle, when the spatial position of the central shaft end changes or the throttle rotates in the forward and reverse directions. The computer then outputs motion commands to control the movement of the upper arm, lower arm, and tool.

[0011] The aforementioned method for controlling engineering machinery or robotic arms includes a sensor 1 for detecting the direction and amplitude of the swing or movement of the central shaft relative to the handle seat, and a sensor 3 for detecting the direction and amplitude of the rotation of the throttle relative to the central shaft. The outputs of both sensor 1 and sensor 3 are electrically connected to a control computer. The control computer is electrically connected to a drive device 1 that drives the upper arm to swing up and down, a drive device 2 that drives the lower arm to swing back and forth, and a drive device 3 that drives the tool to swing inward and outward. The control computer controls the actions of drive device 1, drive device 2, and drive device 3 based on the outputs of sensor 1 and sensor 3.

[0012] In the above-mentioned method of controlling engineering machinery or robotic arms, one end of the horizontally extending swing arm is rotatably mounted on the base around a vertical axis, and the other end of the swing arm is fixed to a handle seat, so that the horizontal rotation of the swing arm relative to the base and the horizontal rotation of the base relative to the chassis are directly correlated; the swing of the base is controlled according to the horizontal rotation angle of the swing arm, so that the direction and angle of the swing of the base relative to the chassis correspond to the direction and angle of the horizontal rotation of the swing arm relative to the base.

[0013] The aforementioned method for controlling engineering machinery or robotic arms includes a sensor four for detecting the direction and amplitude of the swing arm's rotation relative to the base. The output of sensor four is electrically connected to a control computer, and the control computer is electrically connected to a drive device four that drives the base to rotate. The control computer controls the action of drive device four based on the output of sensor four.

[0014] The above-mentioned method for controlling engineering machinery or robotic arms includes a hydraulic system, which includes hydraulic valves and hydraulic cylinders for driving the boom, forearm, tools, and base. The central shaft, throttle, and swing arm are connected to each hydraulic valve to drive the operation of each hydraulic valve. The hydraulic system controls the operation of the boom, forearm, tools, and base according to the operation of each hydraulic valve.

[0015] The present invention also provides a control input device for operating engineering machinery or robotic arms. The actions of the control input device have an intuitive spatial correspondence with the actions of the engineering machinery or robotic arms. Using the control input device, one can operate and control the engineering machinery or robotic arms without complicated training.

[0016] A control input device for operating engineering machinery or robotic arms has a handle, which includes a central shaft, a throttle, and a handle base. The central shaft is arranged horizontally or nearly horizontally, and the throttle is set on the central shaft for forward and reverse rotation. The central shaft can swing or move up and down and back and forth relative to the handle base.

[0017] The aforementioned control input device for operating engineering machinery or robotic arms includes a sensor 1 for detecting the direction and amplitude of the swing or movement of the central shaft relative to the handle seat, and a sensor 3 for detecting the direction and amplitude of the rotation of the throttle relative to the central shaft. The outputs of both sensor 1 and sensor 3 are electrically connected to the control computer. The control computer is electrically connected to a drive device 1 that drives the upper arm to swing up and down, a drive device 2 that drives the lower arm to swing back and forth, and a drive device 3 that drives the tool to swing inward and outward.

[0018] The aforementioned control input device for manipulating engineering machinery or robotic arms has one end of a horizontally extending swing arm that is rotatably mounted on a base around a vertical axis, and the other end of the swing arm is fixed to a handle seat.

[0019] The aforementioned control input device for operating engineering machinery or robotic arms includes a sensor four for detecting the direction and amplitude of the swing arm's rotation relative to the base. The output of sensor four is electrically connected to the control computer, and the control computer is electrically connected to the drive device four that drives the base to rotate.

[0020] The aforementioned control input device for operating engineering machinery or robotic arms includes a hydraulic system. The hydraulic system includes hydraulic valves and hydraulic cylinders, which are used to drive the movement of the boom, arm, tools, and base. The central shaft, throttle, and swing arm are respectively connected to each hydraulic valve to drive the movement of each hydraulic valve.

[0021] The aforementioned control input device for manipulating engineering machinery or robotic arms has a throttle for forward and reverse rotation located at the left end of a central shaft. The right end of the central shaft passes through and is fixed to a hemispherical universal swing hemisphere. The left end of the handle seat is a hollow hemispherical inner surface that matches the universal swing hemisphere. The right end plane of the universal swing hemisphere contacts the left side of an annular support plate. An annular compression spring is installed between the right side of the annular support plate and the right end of the handle seat. The center of the annular compression spring has a sensor seat connected to the inside of the handle seat. The right end of the central shaft fixes the moving part of the universal swing sensor, and the sensor seat fixes the stationary part of the universal swing sensor. In normal operation, the annular compression spring presses the universal swing hemisphere against the hollow hemispherical inner surface of the handle seat, and the moving and stationary parts of the universal swing sensor are opposite each other on the axis of the central shaft.

[0022] The aforementioned control input device for operating engineering machinery or robotic arms includes a torsion spring between the throttle and the left end of the central shaft. Under normal conditions, the torsion spring keeps the throttle in a neutral position where it does not rotate relative to the central shaft. A rotation sensor is installed on the throttle and the central shaft to detect the angle and direction of the throttle's rotation relative to the central shaft.

[0023] The aforementioned control input device for manipulating engineering machinery or robotic arms has a horizontally extending swing arm with one end rotating around a vertical axis and mounted on a base. The other end of the swing arm is fixed to the right end of the handle seat. Sensor four is mounted on the swing arm and the base to detect the direction and angle of the swing arm's rotation relative to the base.

[0024] The beneficial effects of this invention are:

[0025] Engineering machinery or robotic arms are existing technologies, having a base that rotates horizontally relative to the chassis, a large arm that swings up and down relative to the base, a small arm that swings back and forth relative to the large arm, and a tool that swings inward and outward relative to the small arm.

[0026] The core of the handle is a three-axis handle. The central axis and the throttle are parallel or nearly parallel, positioned horizontally relative to the upper body. The movement direction of the moving ends of the central axis and the throttle, away from the handle base, is similar to the movement trajectory of the tool end of a robotic arm, such as an excavator bucket—moving up and down, forward and backward, and rotating around a horizontal axis. This makes the intention to operate the handle almost identical to the tool's movement, very intuitive, and easy to control. It also simplifies the original two-arm control to single-arm control. The specific structure of the handle does not affect the scope of this patent; any three-axis handle capable of moving along the y-axis (or swinging around the z-axis), moving along the z-axis (or swinging around the y-axis), and rotating around a horizontal x-axis coaxial with the central axis is acceptable.

[0027] In this invention, the up-and-down swing or movement of the end of the central shaft relative to the handle seat corresponds to the up-and-down movement of the tool; the back-and-forth swing or movement of the end of the central shaft relative to the handle seat corresponds to the back-and-forth movement of the tool; and the forward and reverse rotation of the handle relative to the central shaft corresponds to the inward and outward swing of the tool. The up-and-down swing or movement of the end of the central shaft relative to the handle seat controls the up-and-down movement of the tool; the back-and-forth swing or movement of the end of the central shaft relative to the handle seat controls the back-and-forth movement of the tool; and the forward and reverse rotation of the handle relative to the central shaft controls the inward and outward swing of the tool. The function of the handle is: to move the tool up (down), simply turn the central shaft up (down); to move the tool forward (backward), simply turn the central shaft forward (backward); to hook (flip) the tool inward (outward), simply twist the handle inward (outward). The target action of the tool and the control action of the handle are consistent, and the two have an intuitive spatial correspondence.

[0028] This invention establishes an intuitive correspondence between the spatial position of the central shaft end relative to the handle seat and the spatial position of the tool relative to the base; an intuitive correspondence between the forward and reverse rotation angles of the throttle relative to the central shaft seat and the swing angle of the tool relative to the forearm; and an intuitive correspondence between the horizontal rotation of the swing arm relative to the base and the horizontal rotation of the base relative to the chassis. The intuitive correspondence means that when the central shaft end moves upward or swings, the tool moves upward; when the central shaft end moves downward or swings, the tool moves downward; when the central shaft end moves forward or swings, the tool moves forward; when the central shaft end moves backward or swings, the tool moves backward; when the throttle is rotated forward (counterclockwise), the tool swings inward (counterclockwise) around the horizontal axis; when the throttle is rotated backward (clockwise), the tool swings outward (clockwise) around the horizontal axis; when the swing arm rotates horizontally counterclockwise around the vertical axis, the base swings horizontally counterclockwise; and when the swing arm rotates horizontally clockwise around the vertical axis, the base swings horizontally clockwise.

[0029] When the spatial position of the central shaft end changes or the throttle rotates in both directions, the control computer calculates the direction, speed, angle, or position of the upper arm, forearm, and tool based on the corresponding changes in the tool's spatial position and the angles of the tool's inward and outward swing corresponding to the angles of the throttle's rotation. It then outputs motion commands to control the movements of the upper arm, forearm, and tool, enabling the tool to achieve the desired spatial position and posture. For example, to move or swing the central shaft end horizontally forward, the control computer controls the upper arm and forearm to move simultaneously: swinging the forearm forward while simultaneously swinging the upper arm downward. Similarly, when the central shaft end swings vertically upward, to maintain the tool's vertical rise, the control computer also controls the upper arm and forearm to move simultaneously: swinging the upper arm upward while simultaneously swinging the forearm to coordinate with the upper arm, keeping the tool in a vertical position.

[0030] The rotation of the horizontally extending swing arm relative to the base around the vertical axis corresponds to the rotation of the base relative to the chassis. The horizontal rotation of the base is controlled by the rotation of the swing arm with the fixed handle seat. In other words, the intention of rotating the handle (and swing arm) around the vertical axis is almost the same as the rotation of the base in the robotic arm. There is an intuitive spatial correspondence between the rotation of the handle (and swing arm) and the rotation of the base. The robotic arm can be easily controlled through the control input device.

[0031] The method of controlling the movements of the boom, forearm, tool, and base through the actions of the central shaft, throttle, and swing arm is existing technology. For example, a sensor can be installed to detect the direction and amplitude of the central shaft's swing or movement relative to the handle seat; a sensor can detect the direction and amplitude of the throttle's rotation relative to the central shaft; and a sensor can detect the direction and amplitude of the swing arm's rotation relative to the base. The outputs of sensors one, three, and four are all electrically connected to a control computer. The control computer is electrically connected to drive device one (driving the boom up and down), drive device two (driving the forearm back and forth), drive device three (driving the tool inward and outward), and drive device four (driving the base to rotate). The control computer controls the actions of drive devices one and two based on the output of sensor one, controls the action of drive device three based on the output of sensor three, and controls the action of drive device four based on the output of sensor four. Of course, the control computer can also simultaneously control the actions of drive devices one, two, three, and four based on the outputs of sensors one and / or three and / or four, making the entire construction machinery or robotic arm move in a coordinated manner.

[0032] If construction machinery or robotic arms have a hydraulic system including hydraulic valves and hydraulic cylinders for driving the movements of the boom, arm, tools, base, etc., the central shaft, throttle, and swing arm can be connected to each hydraulic valve (including pilot valve) to drive the movement of each hydraulic valve. The hydraulic system controls the movement of the boom, arm, tools, and base according to the movement of each hydraulic valve. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of engineering machinery.

[0034] Figure 2 , 3 This is a schematic diagram of the control input device.

[0035] Figure 4 This is a diagram of the handle structure.

[0036] In the diagram, 1 is the upper arm, 2 is the forearm, 3 is the tool, 4 is the base, 5 is the chassis, 6 is the swing arm, and 7 is the base.

[0037] Handle 100, handle seat 11, central shaft 12, throttle 13, universal swing hemisphere 14, annular support plate 15, universal swing sensor 16, rotation sensor 17, sensor seat 18, annular compression spring 19, torsion spring 20, sensor shaft 21, radial pin 22. Detailed Implementation

[0038] like Figure 1 The construction machinery shown is an excavator, which has a hydraulic system, a base 4 that rotates horizontally relative to the chassis 5, a boom 1 that swings up and down relative to the base 4, a forearm 2 that swings back and forth relative to the boom 1, and a tool (bucket) 3 that swings inward and outward relative to the forearm 2.

[0039] The hydraulic system includes four drive units: a drive unit 1 for driving the boom to swing up and down, a drive unit 2 for driving the forearm to swing back and forth, a drive unit 3 for driving the tool to swing in and out, and a drive unit 4 for driving the base to rotate. Each drive unit includes hydraulic valves, hydraulic cylinders, etc.

[0040] See Figure 2 , 3 The control input device for operating the excavator includes a handle 100, a swing arm 6, and a base 7. The handle is arranged horizontally or nearly horizontally and includes a central shaft 12, a throttle 13, and a handle seat 11.

[0041] See Figure 4The throttle 13, rotating in both clockwise and counterclockwise directions, is located at the left end of the central shaft 12. The right end of the central shaft 12 passes through and is fixed to the hemispherical universal swing hemisphere 14. The left end of the handle seat 11 is a hollow hemispherical inner surface that matches the universal swing hemisphere 14. The right end plane of the universal swing hemisphere 14 contacts the left side of the annular support plate 15. The outer diameter of the annular support plate 15 is larger than the diameter of the universal swing hemisphere 14. The annular support plate 15 is located inside the handle seat 11, and its outer left circumference extends beyond the universal swing hemisphere 14, contacting the stepped surface inside the handle seat. An annular compression spring 19 is provided between the right side of the annular support plate 15 and the right end of the handle seat. The center of the annular compression spring 19 has a sensor seat 18 connected to the inside of the handle seat 11, and the sensor seat 18 is opposite to the right end of the central shaft 12. The moving part of the universal swing sensor (sensor one) 16 is fixed to the right end of the central shaft 12, and the stationary part of the universal swing sensor 16 is fixed to the sensor base 18. Under normal conditions, the annular compression spring 19 presses the universal swing hemisphere 14 against the hollow hemispherical inner surface of the handle base 11, and the moving and stationary parts of the universal swing sensor 16 are on the axis of the central shaft 12. Under external force, the central shaft 12 (including the throttle 13) and the universal swing hemisphere 14 can overcome the elastic force of the annular compression spring 19 and swing relative to the handle base 11. At this time, the moving part of the universal swing sensor 16 swings relative to its stationary part, and the stationary part of the universal swing sensor 16 can detect the direction and angle of the swing of the moving part relative to it. Of course, after the external force is removed, the central shaft 12 (including the throttle 13) and the universal swing hemisphere 14 will return to their original positions where the moving and stationary parts of the universal swing sensor 16 are coaxially opposite each other on the axis of the central shaft 12.

[0042] A torsion spring 20 is installed between the throttle 13 and the left end of the central shaft 12. Under normal conditions, the torsion spring 20 keeps the throttle 13 in a neutral position relative to the central shaft. Of course, under external force, the throttle 13 can overcome the elastic force of the torsion spring 20 and rotate counterclockwise or clockwise relative to the central shaft 12. When the external force is removed, the throttle 13 will return to the neutral position under the action of the torsion spring. Inside the central shaft is a sensor shaft 21 that can rotate relative to the central shaft. The sensor shaft 21 is fixed to the throttle outside the central shaft by a radial pin 22, which passes through an arc-shaped groove on the central shaft. The sensor shaft 21 rotates synchronously with the throttle 13. A moving part of a rotary sensor (sensor three) 17 is installed on the sensor shaft 21. The stationary part of the rotary sensor 17 is fixed to the central shaft 12 or a universal oscillating hemisphere 14. When the throttle 13 and sensor shaft 21 rotate relative to the central shaft 12, the stationary part of the rotary sensor 17 can detect the angle and direction of the rotation of the moving part of the rotary sensor 17 relative to it.

[0043] One end of the horizontally extending swing arm 6 is rotatably mounted on the base 7 around a vertical axis, and the other end of the swing arm is fixed to the handle seat 11. The sensor 4 is used to detect the direction and angle of the rotation of the swing arm 6 relative to the base 7. The rotation of the swing arm relative to the base controls the horizontal rotation of the base.

[0044] The outputs of sensor 1, sensor 3, and sensor 4 are all electrically connected to the control computer. The control computer is electrically connected to the hydraulic valves in drive device 1 that drives the boom to swing up and down, drive device 2 that drives the forearm to swing back and forth, drive device 3 that drives the tool to swing in and out, and drive device 4 that drives the base to rotate.

[0045] The control computer controls the actions of drive device one and drive device two based on the output of sensor one. Specifically, it controls the up-and-down swing of the upper arm and the back-and-forth swing of the lower arm based on the up-and-down swing of the end of the central shaft relative to the handle seat. It also controls the back-and-forth swing of the lower arm and the up-and-down swing of the upper arm based on the back-and-forth swing of the end of the central shaft relative to the handle seat, so that the tool moves to the tool space position corresponding to the changed spatial position of the end of the central shaft.

[0046] The control computer controls the action of the drive device three based on the output of sensor three. That is, it controls the inward and outward swing of the tool based on the forward and reverse rotation of the throttle relative to the central axis, so that the direction and angle of the tool swing relative to the forearm correspond to the direction and angle of the throttle relative to the central axis.

[0047] The control computer controls the action of the drive device four based on the output of the sensor four. That is, based on the counterclockwise or clockwise rotation of the swing arm relative to the base, it controls the base to rotate counterclockwise or clockwise relative to the base, so that the direction and angle of the swing of the base relative to the chassis corresponds to the direction and angle of the horizontal rotation of the swing arm relative to the base.

[0048] This invention designs an intuitive control mechanism (control input device) and a method for controlling engineering machinery or robotic arms. There is a certain correspondence between the movements of the robotic arm and the control mechanism, which is easy to master and control, and is conducive to the popularization of these control-type mechanical devices. It can also be used for robot control and wearable device control.

[0049] A control input device and control method for operating engineering machinery or robotic arms include a central axis (part of a handle) that can swing or move up and down and back and forth relative to the operator, and a throttle that can rotate bidirectionally when held by hand. The central axis is arranged horizontally or nearly horizontally; the up-and-down swinging or movement of the end of the central axis corresponds to the up-and-down movement control of the tool; the back-and-forth swinging or movement of the end of the central axis corresponds to the back-and-forth movement control of the tool; and the rotation of the throttle corresponds to the rotation control of the tool.

[0050] Optionally, the handle base of the aforementioned handle is mounted on a horizontally swinging arm, the rotation of which corresponds to the rotation control of the base.

[0051] The joints of the control handle can be equipped with sensors to input control actions to the control computer via electrical signals, and the computer will make the final control output based on the signals.

[0052] The joint of the control handle can also be connected to a hydraulic valve or a pilot valve, and the pilot valve controls the main valve to ultimately control the movement of the robotic arm.

[0053] Control process description:

[0054] The first method is direct control: Taking an excavator as an example, when the operator wants the bucket to rise, they swing the control handle (central axis) upwards. The pilot system or control computer controls the boom cylinder in drive device one to push the boom upwards and controls the boom cylinder in drive device two to drive the boom to move in coordination with the boom, thus raising the bucket. When the operator wants the bucket to move forward, they swing the control handle (central axis) forward. The pilot system or control computer controls the boom cylinder in drive device two to swing the boom cylinder in drive device one to drive the boom to move in coordination with the boom, thus moving the bucket forward. When the operator wants the bucket to tilt inwards, they turn the throttle handle downwards and inwards. The bucket tilt cylinder in drive device three, controlled by the pilot system or control computer, pushes the bucket inwards to tilt. If the operator wants the bucket to move downwards and backwards simultaneously, and to hook the bucket inwards, they can swing the central axis downwards and backwards while turning the throttle handle inwards. If the operator needs to rotate the base, he holds the throttle and swings the handle and swing arm horizontally in the direction of the target rotation. The pilot system or control computer then controls the rotary joint to rotate in the direction of the target (i.e., the base rotates relative to the chassis in the direction of the target).

[0055] The second method is spatial coordinate control. This method focuses on the tool's movement in three-dimensional space. The control computer calculates the target parameters for the motion control of each joint in the robotic arm based on the changes in the spatial coordinates of the control handle. The computer then sends control commands to each joint. When the central axis swings only upwards, and the intention is to move vertically upwards, the computer calculates the control parameters for each joint based on parameters such as the arm length. For example, the upper arm swings upwards while the forearm swings backwards to ensure the bucket moves vertically upwards. This is tool control in a robotic system.

[0056] The control handle and control method described herein can be used directly on the controlled equipment, allowing the operator to control it directly on the equipment, or they can be used as remote control devices to remotely control mechanical equipment.

[0057] The control mechanism and control method of this invention have intuitive operation performance, and ordinary people can quickly adapt to the operation requirements and quickly become proficient in operation, shortening the learning time. Moreover, the device that was originally controlled by two hands can be easily achieved with one hand, which greatly reduces the labor intensity and is very beneficial to the popularization and application of robotic arm devices.

[0058] The embodiments described above are merely preferred embodiments of the present invention and do not constitute a limitation on the scope of the claims. Other substantially equivalent substitutions that can be conceived by those skilled in the art are all within the protection scope of the present invention.

Claims

1. A method for controlling engineering machinery or a robotic arm, wherein the engineering machinery or robotic arm has a base that rotates horizontally relative to a chassis, a large arm that swings up and down relative to the base, a small arm that swings back and forth relative to the large arm, and a tool that swings inward and outward relative to the small arm; characterized in that: A handle with a horizontal or near-horizontal central axis is used. The handle includes a central axis, a throttle, and a handle base. The throttle is set on the central axis for forward and reverse rotation. The central axis can swing up and down and back and forth or move relative to the handle base. A visual correspondence is established between the spatial position of the end of the central axis away from the handle base and the spatial position of the tool relative to the base. The movement of the upper arm and lower arm is controlled according to the change in the spatial position of the end of the central axis, so that the tool moves to the tool spatial position corresponding to the changed spatial position of the end of the central axis.

2. The method for controlling engineering machinery or a robotic arm as described in claim 1, characterized in that: When the spatial position of the end of the central axis changes, the control computer calculates the direction, speed, angle, or position of the upper arm and forearm based on the corresponding change in the tool space position, and outputs motion commands to control the movement of the upper arm and forearm.

3. The method for controlling engineering machinery or a robotic arm as described in claim 1, characterized in that: A direct correspondence is established between the forward and reverse rotation angles of the throttle relative to the central pivot and the swing angle of the tool relative to the forearm. Based on the changes in the forward and reverse rotation angles of the throttle relative to the central pivot, the swing of the tool is controlled so that the direction and angle of the tool's swing relative to the forearm correspond to the direction and angle of the throttle's rotation relative to the central pivot.

4. The method for controlling engineering machinery or a robotic arm as described in claim 3, characterized in that: When the throttle is turned in the forward and reverse directions, the control computer calculates the tool's direction of motion, speed, angle, or position based on the angle of the tool's inward and outward swing corresponding to the forward and reverse rotation angle of the throttle, and outputs motion commands to control the tool's motion.

5. The method for controlling engineering machinery or a robotic arm as described in claim 3, characterized in that: It includes a sensor 1 for detecting the direction and amplitude of the swing or movement of the central shaft relative to the handle seat, and a sensor 3 for detecting the direction and amplitude of the rotation of the throttle relative to the central shaft. The outputs of both sensors 1 and 3 are electrically connected to the control computer. The control computer is electrically connected to drive device 1, which drives the upper arm to swing up and down, drive device 2, which drives the lower arm to swing back and forth, and drive device 3, which drives the tool to swing in and out. The control computer controls the actions of drive device 1, drive device 2, and drive device 3 based on the outputs of sensors 1 and 3.

6. The method for controlling engineering machinery or a robotic arm as described in claim 1, characterized in that: One end of the horizontally extending swing arm is rotatably mounted on the base around a vertical axis, and the other end of the swing arm is fixed to a handle seat. This establishes a direct correspondence between the horizontal rotation of the swing arm relative to the base and the horizontal rotation of the base relative to the chassis. The swing of the base is controlled according to the horizontal rotation angle of the swing arm, so that the direction and angle of the swing of the base relative to the chassis correspond to the direction and angle of the horizontal rotation of the swing arm relative to the base.

7. The method for controlling engineering machinery or a robotic arm as described in claim 6, characterized in that: It includes a sensor four for detecting the direction and amplitude of the swing arm's rotation relative to the base. The output of sensor four is electrically connected to a control computer. The control computer is electrically connected to a drive device four that drives the base to rotate. The control computer controls the action of drive device four based on the output of sensor four.

8. The method for controlling engineering machinery or a robotic arm as described in claim 6, characterized in that: Engineering machinery or robotic arms have hydraulic systems, which include hydraulic valves and hydraulic cylinders to drive the boom, arm, tools, and base. The central shaft, throttle, and swing arm are connected to each hydraulic valve to drive the valve's movement. The hydraulic system controls the movement of the boom, arm, tools, and base according to the movement of each hydraulic valve.

9. A control input device for operating engineering machinery or robotic arms, characterized in that: It has a handle arranged horizontally or nearly horizontally. The handle includes a central shaft, a throttle, and a handle seat. The throttle is set on the central shaft for forward and reverse rotation. The central shaft can swing or move up and down and back and forth relative to the handle seat.

10. The control input device for operating engineering machinery or robotic arms as described in claim 9, characterized in that: One end of the horizontally extending swing arm is rotatably mounted on the base around a vertical axis, while the other end of the swing arm is fixed to a handle seat.

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