Mechanical arm control method and device, storage medium and composite transportation equipment

Abstract

The invention relates to the technical field of metal processing, and discloses a mechanical arm control method and device, a storage medium and composite transportation equipment, the method is applied to the composite transportation equipment with a mechanical arm, and the method comprises the steps that when the mechanical arm is controlled to operate, scanning is conducted within a preset range, judging whether a person exists in a preset range or not according to a scanning result; if yes, the current distance between the mechanical arm and the person is determined, and the running speed of the mechanical arm is adjusted according to the current distance; and the mechanical arm is controlled according to the adjusted running speed. Compared with the prior art that the mechanical arm is rotated according to the fixed speed, the operation speed of the mechanical arm can be adjusted according to the current distance between the mechanical arm and the staff, so that the response time of the staff is shortened, and the safety is improved.

Description

Technical Field

[0001] This application relates to the field of metal processing technology, and in particular to a robotic arm control method, device, storage medium, and composite transportation equipment. Background Technology

[0002] In the metal computer numerical control (CNC) machining process, the composite transport equipment removes the finished products from the CNC machining equipment using a robotic arm according to the unloading task, and puts the materials to be processed into the CNC machining equipment using a robotic arm according to the loading task.

[0003] However, since workers often pass by in the working environment of composite transport equipment, and the process of the robotic arm of the composite transport equipment clamping and placing materials involves rotating the robotic arm at a fixed speed, and the speed is relatively fast, it may cause workers to not react in time, resulting in accidental injury to workers due to the rotation of the robotic arm, which is a poor safety condition. Summary of the Invention

[0004] The main purpose of this application is to provide a robotic arm control method, device, storage medium, and composite transport equipment, aiming to solve the technical problem that in the working environment of existing composite transport equipment, where workers often pass by, the robotic arm of the composite transport equipment generally rotates at a fixed speed when gripping materials, which may lead to workers not being able to react in time and resulting in poor safety.

[0005] To achieve the above objectives, this application provides a robotic arm control method, which is applied to a composite transportation device equipped with a robotic arm, the method comprising:

[0006] When the robotic arm is in operation, it scans a preset range and determines whether there are people within the preset range based on the scan results.

[0007] If so, determine the current distance between the robot and the person, and adjust the operating speed of the robot arm according to the current distance;

[0008] The robotic arm is controlled according to the adjusted operating speed.

[0009] In one embodiment, the step of adjusting the operating speed of the robotic arm based on the current distance includes:

[0010] When the current distance reaches the first preset distance, the operating speed of the robotic arm is reduced according to the first preset deceleration ratio;

[0011] When the current distance reaches the second preset distance, the operating speed of the robotic arm is reduced according to the second preset reduction ratio. The first preset distance is higher than the second preset distance, and the first preset reduction ratio is lower than the second preset reduction ratio.

[0012] In one embodiment, the step of reducing the operating speed of the robotic arm according to a first preset reduction ratio includes:

[0013] The current moving speed of the person is obtained, and a corresponding first preset deceleration ratio is determined based on the current moving speed;

[0014] The operating speed of the robotic arm is reduced according to the corresponding first preset speed reduction ratio.

[0015] In one embodiment, the step of reducing the operating speed of the robotic arm according to the corresponding first preset speed reduction ratio includes:

[0016] Determine the current direction of movement of the person, and determine the angle between the current direction of movement and the current direction of movement of the person;

[0017] The first preset speed reduction ratio is adjusted according to the current moving angle, and the operating speed of the robotic arm is reduced according to the adjusted first preset speed reduction ratio.

[0018] In one embodiment, the step of adjusting the first preset deceleration ratio according to the current moving angle includes:

[0019] Determine the preset angle range in which the current moving angle is located;

[0020] When the current moving angle is within the first preset angle range, the first preset deceleration ratio is increased;

[0021] When the current moving angle is within the second preset angle range, the first preset deceleration ratio is reduced.

[0022] In one embodiment, before the step of reducing the operating speed of the robotic arm according to a first preset deceleration ratio when the current distance reaches a first preset distance, the method further includes:

[0023] Obtain the remaining tasks of the robotic arm, and determine the range of motion of the robotic arm based on the remaining tasks;

[0024] Determine the current direction of movement of the person, and predict the movement trajectory of the person based on the current direction of movement;

[0025] When the movement trajectory exists within the activity range, the step of reducing the operating speed of the robotic arm according to a first preset deceleration ratio is executed when the current distance reaches a first preset distance.

[0026] In one embodiment, after the step of predicting the movement trajectory of the person based on the current movement direction, the method further includes:

[0027] When the movement trajectory does not exist within the activity range, the operating speed of the robotic arm is increased based on the current distance.

[0028] Furthermore, to achieve the above objectives, this application also proposes a robotic arm control device, the device comprising:

[0029] The scanning module is used to scan a preset range when the robotic arm is running, and to determine whether there are people in the preset range based on the scanning results;

[0030] An adjustment module is used to determine the current distance between the robot arm and the person if the condition is met, and to adjust the operating speed of the robot arm according to the current distance.

[0031] The control module is used to control the robotic arm according to the adjusted operating speed.

[0032] In addition, to achieve the above objectives, this application also proposes a storage medium storing a robotic arm control program, which, when executed by a processor, implements the robotic arm control method as described above.

[0033] In addition, to achieve the above objectives, this application also proposes a composite transportation device, which includes: a robotic arm and a vehicle-mounted system, wherein the vehicle-mounted system is connected to the robotic arm;

[0034] The vehicle-mounted system is used to scan a preset range when controlling the robotic arm to run, and to determine whether there are people in the preset range based on the scanning results;

[0035] The vehicle-mounted system is further configured to, if so, determine the current distance between itself and the person, and adjust the operating speed of the robotic arm according to the current distance;

[0036] The onboard system is also used to control the robotic arm according to the adjusted operating speed.

[0037] This application provides a robotic arm control method, device, storage medium, and composite transportation equipment. The method is applied to a composite transportation equipment with a robotic arm. The method includes: scanning a preset range while controlling the robotic arm to run, and determining whether a person exists within the preset range based on the scan result; if so, determining the current distance to the person, and adjusting the robotic arm's running speed according to the current distance; and controlling the robotic arm according to the adjusted running speed. Because this application can scan a preset range while controlling the robotic arm to run, determine whether a person exists within the preset range based on the scan result, and if so, determine the current distance to the person, adjust the robotic arm's running speed according to the current distance, and then control the robotic arm according to the adjusted running speed, compared to existing robotic arms that rotate at a fixed speed, this application can adjust the robotic arm's running speed according to the current distance to the person, thereby improving the worker's reaction time and enhancing safety. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating the first embodiment of the robotic arm control method of this application;

[0041] Figure 2 This is a schematic diagram of the processing system in the first embodiment of the robotic arm control method of this application;

[0042] Figure 3 This is a schematic diagram of the composite transportation equipment in the first embodiment of the robotic arm control method of this application;

[0043] Figure 4 This is a flowchart illustrating the second embodiment of the robotic arm control method of this application;

[0044] Figure 5 This is a schematic diagram of network diagnostics in the third embodiment of the robotic arm control method of this application;

[0045] Figure 6 This is a schematic diagram of the robot arm running speed adjustment in the fourth embodiment of the robot arm control method of this application;

[0046] Figure 7 This is a schematic diagram of the processing system in the fifth embodiment of the robotic arm control method of this application;

[0047] Figure 8 This is a structural block diagram of the first embodiment of the robotic arm control device of this application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0050] It should be noted that in the metal computer numerical control (CNC) machining process, the composite transport equipment removes the finished products from the CNC machining equipment by means of a robotic arm according to the unloading task, and puts the materials to be processed into the CNC machining equipment by means of a robotic arm according to the loading task.

[0051] However, since workers often pass by in the working environment of composite transport equipment, and the process of the robotic arm of the composite transport equipment clamping and placing materials involves rotating the robotic arm at a fixed speed, and the speed is relatively fast, it may cause workers to not react in time, resulting in accidental injury to workers due to the rotation of the robotic arm, which is a poor safety condition.

[0052] To address the aforementioned shortcomings, this embodiment provides a robotic arm control method applied to a composite transportation device equipped with a robotic arm. This embodiment allows the robotic arm to scan a preset range during operation and determine the presence of personnel within that range based on the scan results. If personnel are present, the current distance to them can be determined, and the robotic arm's operating speed can be adjusted accordingly. The robotic arm is then controlled based on this adjusted speed. Compared to existing robotic arms that rotate at a fixed speed, this embodiment adjusts the robotic arm's speed based on the current distance to personnel, thereby improving worker reaction time and enhancing safety.

[0053] For ease of understanding, the following is combined with Figures 1 to 8 The robotic arm control method provided in the embodiments of this application and the processing system provided in the following embodiments will be described in detail.

[0054] This application provides a robotic arm control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the robotic arm control method of this application, as shown below. Figure 1As shown, in this embodiment, the method is applied to a composite transport device with a robotic arm, and the method includes:

[0055] Step S10: When controlling the robotic arm to run, scan within a preset range and determine whether there are personnel within the preset range based on the scan results.

[0056] It should be noted that the composite transport equipment in this embodiment can be used in CNC machining scenarios, but it can also be used in other machining scenarios. This embodiment uses a CNC machining scenario for explanation. Furthermore, the machining equipment in this embodiment can be equipment used for CNC machining, such as a CNC machine tool, etc., and this embodiment does not impose any limitations on this. The executing entity of the above method in this embodiment can be a device equipped with robotic arm control, data processing, and program execution. This embodiment uses a composite transport equipment for explanation, and the composite transport equipment can be equipped with a robotic arm and a vehicle-mounted system. The vehicle-mounted system is connected to the robotic arm to control the robotic arm to complete the loading and unloading tasks of the CNC machining equipment. Therefore, the robotic arm control method proposed in this application embodiment and subsequent embodiments can be executed through the vehicle-mounted system.

[0057] Understandably, when controlling the robotic arm, since it is generally used for loading and unloading materials, the timing for controlling the robotic arm's operation can be during loading and unloading. Of course, other timings are also possible, and this embodiment does not limit this.

[0058] It should be understood that the above-mentioned preset range can be set according to the actual situation, and the composite transportation equipment in this embodiment can be equipped with a scanning component to scan the preset range and determine whether there are personnel within the preset range.

[0059] Step S20: If yes, determine the current distance between the robot and the person, and adjust the operating speed of the robot arm according to the current distance;

[0060] Step S30: Control the robotic arm according to the adjusted running speed.

[0061] It is understood that the aforementioned current distance can be the distance between the composite transportation equipment and the personnel. In this embodiment, different speed adjustment ratios can be preset according to different current distances. Then, in actual use, the corresponding speed adjustment ratio can be determined based on the current distance, and the operating speed of the robotic arm can be adjusted according to this ratio. The robotic arm is then controlled based on the adjusted operating speed. Compared to existing robotic arms that rotate at a fixed speed, this embodiment can adjust the operating speed of the robotic arm according to the current distance to the personnel, thereby improving the worker's reaction time and enhancing safety.

[0062] Before proceeding with a detailed explanation, it should be noted that the composite transport equipment in this embodiment is generally used in a CNC machining system, which may also include CNC machining equipment. To enable the composite transport equipment to automatically perform clamping and loading operations on the CNC machining equipment—that is, to remove the finished product from the CNC machining equipment and then place the material to be processed into the CNC machining equipment—refer to [the relevant documentation / reference]. Figure 2 , Figure 2 This is a schematic diagram of the processing system in the first embodiment of the robotic arm control method of this application, as shown below. Figure 2 As shown, in this embodiment, the above-mentioned processing system may further include: a scheduling system, wherein the task management platform is connected to the processing equipment and the scheduling system respectively, and the scheduling system is connected to the composite transportation equipment.

[0063] Before step S10 above, the following is also included:

[0064] Step S01: Generate loading and unloading tasks based on the processing items corresponding to the processing equipment through the task management platform, and generate a task list based on the loading and unloading tasks.

[0065] It is understood that the aforementioned processing items can be the items that each processing equipment needs to process. The processing system of this embodiment can be equipped with several processing equipment. Different processing equipment can be responsible for processing different processing items, and of course, they can also be responsible for processing the same processing items. This embodiment does not impose any restrictions on this. The aforementioned feeding task can be a task used to replenish the processing equipment with materials to be processed, and the aforementioned unloading task can be a task used to remove the finished product clamp obtained by the processing equipment.

[0066] The aforementioned task management platform can be a platform for generating tasks, and can be implemented through devices such as computers. This embodiment does not impose any restrictions on this.

[0067] Before use, users can log in to the task management platform to set the product information to be processed by each processing equipment. This product information may include, but is not limited to: processing items, processing steps, required material numbers, corresponding material trays, and corresponding material platforms. The processing steps can be the steps included in the processing item; the required material number can be the material number corresponding to the material to be processed, and different materials can be set with different material numbers; the corresponding material tray can be the tray used on the composite transport equipment to store the material to be processed and the finished product; the corresponding material platform can be the material platform inside the processing equipment where processing takes place, and multiple material platforms can be set up inside the processing equipment.

[0068] It should be emphasized that there can be multiple composite transport devices in this embodiment, and the user can set the processing equipment to be handled by each composite transport device through the task management platform. For example, if there are ten processing devices, denoted as A01 to A10, the processing items, processing steps, required material numbers, corresponding material trays, and corresponding material platforms to be handled by each processing device can be set through the task management platform. It can also be set which one or several processing devices each composite transport device is responsible for. The specific settings can be customized according to the actual situation, and this embodiment does not impose any restrictions on this.

[0069] Furthermore, since the aforementioned composite transportation equipment in this embodiment can be equipped with a vehicle-mounted rack, which can be equipped with trays for storing materials to be processed and finished products, multiple trays can be provided, for example, six trays. Additionally, the user can configure the materials to be processed or finished products stored in each tray through a task management platform.

[0070] After the above configuration, the task management platform can generate a corresponding turnover number based on the configured product information and synchronize the turnover number to the on-board systems of the processing equipment and the composite transportation equipment. Thus, the on-board systems of the processing equipment and the composite transportation equipment can obtain the corresponding product information based solely on the turnover number.

[0071] After completing the above synchronization, production can begin. During production, the task management platform can obtain the current progress of the processing equipment in real time and determine whether the processing is complete based on the current progress and the processing steps in the corresponding processing project. If processing is not complete, it waits; if processing is complete, it can generate loading and unloading tasks based on the processing project of the equipment. After generating the loading and unloading tasks, a task list is generated based on the loading and unloading tasks and transmitted to the scheduling system.

[0072] It is important to emphasize that if the processing equipment is unable to operate immediately, the generated loading and unloading tasks will also be unable to be executed. Therefore, in this embodiment, when the task management platform generates a task list based on the loading and unloading tasks, it can first obtain the current status of the processing equipment and determine whether the current status is abnormal. This abnormal status may include, but is not limited to, the processing equipment being in an alarm state, being debugged by personnel, or being shut down, etc. If it is an abnormal status, the loading and unloading tasks corresponding to that processing equipment are deleted from the task list, and the loading and unloading tasks of processing equipment that are only in a normal state are retained, resulting in an adjusted task list, which is then transmitted to the scheduling system.

[0073] Step S02: The scheduling system generates the travel path of the composite transportation equipment based on the task list.

[0074] It should be noted that the aforementioned scheduling system can be a system for scheduling the movement of processing equipment, and can be implemented through devices such as computers; this embodiment does not impose any limitations on this. The aforementioned travel path can be the path used to control the composite transport equipment to travel to the processing equipment.

[0075] In order to generate this driving path, in this embodiment, step S02 includes:

[0076] The current location of the composite transportation equipment is obtained through the scheduling system, and the equipment location of the processing equipment is obtained according to the task list;

[0077] The scheduling system generates the travel path of the composite device based on the current location and the device location.

[0078] It is understood that the current location of the aforementioned composite transportation equipment can be its current position. In this embodiment, the composite transportation equipment may be equipped with a positioning device, and the vehicle-mounted system can send the current location of the composite transportation equipment to the dispatching system. The equipment location of the aforementioned processing equipment can be the location where the processing equipment is set, which can be obtained by pre-marking the processing environment.

[0079] It should be understood that the composite transport equipment in this embodiment may be equipped with a scanning component, specifically a depth camera, which may be set at any position on the composite transport equipment. The composite transport equipment may be pre-controlled by the scheduling system to scan the processing environment, and then the user may mark the position of the processing equipment according to the scanning results, thereby obtaining the position of the aforementioned equipment.

[0080] In practical use, once the scheduling system receives the adjusted task list, it can obtain the current location of the corresponding composite transport equipment and determine the current processing equipment based on the adjusted task list, thereby obtaining the equipment location of that processing equipment. After obtaining the current location and the equipment location, it can automatically generate a travel path from the current location to the equipment location based on the previous scan results.

[0081] Furthermore, since one composite transport device can handle multiple processing devices in this embodiment, in order to improve production efficiency, the scheduling system, upon receiving the adjusted task list, can sort the tasks corresponding to each processing device. Specifically, before the step of obtaining the device location of the processing device based on the task list, the system further includes:

[0082] The task list is adjusted according to the current position of the composite transport equipment; the adjusted task list is sent to the composite transport equipment so that the composite transport equipment can perform loading and unloading tasks according to the adjusted task list.

[0083] It should be noted that when the scheduling system adjusts the task list based on the current location of the composite transportation equipment, the specific process is as follows: determine the equipment location of each processing equipment in the task list, and generate a driving plan based on the current location and the location of each equipment; determine the waiting time of each processing equipment in each driving plan, and sort the waiting times; adjust the task list based on the sorting results.

[0084] It is understandable that the aforementioned waiting time may be the time required for the processing equipment to wait for the composite transport equipment to travel to the location of the processing equipment.

[0085] In actual use, the scheduling system can determine the location of each processing device based on the adjusted task list, perform path simulation based on the current location of the composite transport equipment and the location of each device, generate a driving plan, obtain the moving speed of the composite transport equipment, calculate the total waiting time required for each processing device corresponding to each driving plan based on the moving speed, and select the driving order with the lowest total waiting time for sorting to obtain the sorted task list.

[0086] For example, if a composite transport equipment is responsible for ten processing equipment A01 to A10, and A01 to A10 are arranged sequentially, and the composite transport equipment is currently located at the position of processing equipment A04, and the received adjusted task list contains loading and unloading tasks for processing equipment A02, A03, and A09, then during path simulation, the following driving schemes exist: 1. Load and unload A02, A03, and A09 sequentially; 2. Load and unload A02, A09, and A03 sequentially; 3. Load and unload A03, A02, and A09 sequentially; 4. Load and unload A03, A09, and A02 sequentially; 5. Load and unload A09, A02, and A03 sequentially; 6. Load and unload A09, A03, and A02 sequentially.

[0087] After obtaining each travel plan, the waiting time for each processing device in each plan can be calculated based on the moving speed of the composite transport equipment. The total waiting time required is then determined and sorted, with the shortest waiting time selected. Based on the example above, it is clear that if the composite transport equipment starts from position A04 and sequentially loads and unloads A03, A02, and A09, the total waiting time required is the shortest. Therefore, the adjusted task list can be sorted according to this travel plan, placing the loading and unloading task corresponding to processing device A03 first, the loading and unloading task corresponding to processing device A02 second, and the loading and unloading task corresponding to processing device A09 third.

[0088] Then, based on the sorted task list, the equipment location of the corresponding processing equipment is obtained. Based on the current location and the equipment location, the corresponding driving path is generated, and the driving path and the sorted task list are transmitted to the vehicle-mounted system of the composite transportation equipment.

[0089] As another implementation, when sorting, the scheduling system can also sort according to the distance of the composite transport equipment to each processing equipment, and combine the judgment of which direction can execute the most tasks, and sort according to the direction with the most tasks and the closest distance.

[0090] Step S03: Drive along the driving path to the location of the processing equipment, and according to the unloading task in the task list, clamp the finished product out of the processing equipment, and according to the loading task in the task list, clamp the material to be processed into the processing equipment.

[0091] It should be noted that the composite transportation equipment in this embodiment may be equipped with a movable base, which may be an Autonomous Mobile Robot (AMR). For ease of understanding, refer to... Figure 3 , Figure 3 This is a schematic diagram of the composite transportation equipment in the first embodiment of the robotic arm control method of this application. Figure 3 As shown, the composite transport equipment may include a main body and an AMR (Automatic Transporter). The AMR is located at the bottom of the main body, and the composite transport equipment can be moved by the AMR. At the same time, a vehicle-mounted material rack may be provided on the top of the main body, and several material trays may be provided inside the vehicle-mounted material rack. Each material tray can be used to store materials to be processed or finished products, and can also be used to place abnormal finished products, etc. This embodiment does not impose any limitations on this.

[0092] It should also be noted that, such as Figure 3 As shown, a robotic arm with a clamp can also be installed on the top of the machine body. This robotic arm can be a collaborative robotic arm, and it can be equipped with a compensation shaft. The composite transport equipment can use the cooperation of the robotic arm and the clamp to pick up the finished products on the corresponding material platform in the processing equipment and place them in the corresponding material tray on the vehicle-mounted material rack to complete the unloading task. It can also pick up the corresponding material to be processed from the corresponding material tray and place it in the material platform for processing to complete the loading task.

[0093] Therefore, in actual use, when the on-board system of the composite transport equipment receives the task list and the driving route, it can transmit the route to the AMR, and the AMR can drive to the corresponding processing equipment location according to the driving route.

[0094] Once the onboard system detects that the AMR has arrived at the equipment location, it can use the cooperation of the robotic arm and grippers to control the robotic arm to pick up the finished product from the processing equipment according to the unloading task in the task list, and control the robotic arm to pick up the material to be processed from the onboard rack and put it into the processing equipment according to the loading task in the task list. This completes the automatic clamping and loading operation.

[0095] In this embodiment, the vehicle-mounted system can scan a preset range while the robotic arm is in operation. Based on the scan results, it determines whether a person is present within the preset range. If a person is present, the system determines the current distance between the robotic arm and the person, and adjusts the robotic arm's operating speed accordingly. The system then controls the robotic arm based on the adjusted operating speed. Compared to existing robotic arms that rotate at a fixed speed, this embodiment adjusts the robotic arm's operating speed based on the current distance to the person, thereby improving the worker's reaction time and enhancing safety.

[0096] Reference Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the robotic arm control method of this application. Based on the first embodiment described above, a second embodiment of the robotic arm control method of this application is proposed.

[0097] Considering that in order to ensure that the composite transport equipment can perform loading and unloading tasks only after the processing equipment has completed the processing, such as Figure 4 As shown, in this embodiment, the composite transport equipment is equipped with a robotic arm and is connected to the task management platform; the steps of clamping the finished product out of the processing equipment according to the unloading task in the task list and clamping the material to be processed into the processing equipment according to the loading task in the task list include:

[0098] Step S031: Upon arrival at the device location, transmit the generated arrival signal to the task management platform.

[0099] It should be noted that the onboard system of the composite transportation equipment in this embodiment can be directly connected to the task management platform. After receiving the travel path, the onboard system can control the movable base to travel along the travel path to the processing equipment. Upon arrival at the equipment location, the onboard system can generate an arrival signal and send it back to the task management platform.

[0100] Step S032: When the task management platform receives the arrival signal, it determines whether it has obtained the processing completion signal and the door opening signal generated by the processing equipment;

[0101] Step S033: When the task management platform receives the processing completion signal and the door opening signal, it transmits the generated allow unloading signal to the composite transport equipment.

[0102] It is understood that the aforementioned processing completion signal can be a signal that the processing equipment has completed the current processing task, and the aforementioned door opening signal can be a signal that the processing equipment has opened its door. The processing equipment in this embodiment may be equipped with a door, which can automatically close when the processing equipment is in operation and automatically open when the processing equipment has completed processing, in order to pick up the finished product and place the material to be processed.

[0103] Therefore, in this embodiment, when the task management platform receives the arrival signal, it can determine whether it can obtain the processing completion signal and the door opening signal generated by the processing equipment. If the processing equipment has not yet completed, it cannot obtain the processing completion signal and the door opening signal, and the task management platform waits. If the processing equipment has completed, the task management platform can obtain the processing completion signal and the door opening signal, and then the task management platform can generate a permission to unload signal and transmit it to the vehicle system of the composite transportation equipment.

[0104] Step S034: Upon receiving the material change permission signal, control the robotic arm to clamp the finished product out of the processing equipment according to the unloading task in the task list, and control the robotic arm to clamp the material to be processed into the processing equipment according to the loading task in the task list.

[0105] It should be understood that once the onboard system receives the permission signal for unloading, it indicates that the processing equipment has completed processing and the equipment door is open, allowing loading and unloading. Furthermore, for loading and unloading to proceed, such as... Figure 3 As shown, a gripper can be installed on the end of the robotic arm away from the machine body. The onboard system can then control the robotic arm to use the gripper to pick up the finished products from the processing equipment's worktable according to the unloading tasks in the task list, and place them into the corresponding tray of the onboard material rack. Conversely, the system can control the robotic arm to use the gripper to pick up the materials to be processed from the corresponding tray of the onboard material rack according to the loading tasks in the task list, and place them into the processing equipment's worktable, thus completing automatic loading and unloading.

[0106] Furthermore, considering that the material platform positions of different processing equipment may be different, in order to enable the composite transport equipment to accurately determine the material platform position when loading and unloading, in this embodiment, the robotic arm is equipped with a camera component.

[0107] The above-described steps of controlling the robotic arm to clamp the finished product out of the processing equipment according to the unloading task in the task list include:

[0108] According to the unloading task in the task list, the robotic arm extends into the preset shooting position inside the processing equipment and takes a picture through the shooting component.

[0109] Based on the shooting results, the unloading position is determined, and the robotic arm is controlled to clamp the finished product out of the processing equipment according to the unloading position.

[0110] It should be noted that the aforementioned shooting component can be a camera, and it can be mounted on a robotic arm. The specific location can be set according to the actual situation, and this embodiment does not impose any restrictions on it. The aforementioned preset shooting position can be a position pre-set within the processing equipment for shooting the material platform.

[0111] In practical use, when the composite transport equipment performs the unloading task in the task list, the on-board system can first control the robotic arm to extend into the processing equipment and reach the aforementioned preset shooting position. At this position, the shooting component takes pictures of the material platforms inside the processing equipment to obtain the status of all material platforms. After obtaining the shooting results, the on-board system can analyze the shooting results (which can be referred to as the first shooting result) to determine the material platforms with finished products. The analysis method can be to compare with the preset standard shooting results, which may include images of material platforms with finished products. Of course, other analysis methods are also possible, and this embodiment does not limit this.

[0112] Once the presence of a finished product on the material platform is confirmed, the vehicle-mounted system can identify its coordinates in the captured image. Based on these coordinates and the current preset capture position of the robotic arm, the actual position of the material platform can be determined as the unloading position. The system can then control the robotic arm to move to this unloading position and control the gripper to pick up the finished product from the material platform. The system will then query the task management platform for the location of the tray where the finished product should be placed and control the robotic arm to pick up the finished product and place it on the corresponding tray of the vehicle-mounted material rack, thus completing the unloading task.

[0113] It should be emphasized that when the finished product captured by the vehicle system is inconsistent with the preset standard capture result, it can be said that the finished product is abnormal. In this case, the robotic arm can be controlled to pick up the finished product and place it into the abnormal tray of the vehicle shelf.

[0114] It is also important to emphasize that, considering the possibility of residual waste material on the material platform after processing, it needs to be cleaned before the next processing cycle. Therefore, after the composite transport equipment unloads the material, the on-board system can send a material unloading completion signal to the task management platform. The task management platform then transmits the material unloading completion signal to the processing equipment. The processing equipment can be equipped with a cleaning device (such as an air blowing device). Upon receiving the signal, the processing equipment can control the cleaning device to perform the cleaning.

[0115] Furthermore, in order to complete the loading task, in this embodiment, the step of controlling the robotic arm to clamp the material to be processed into the processing equipment according to the loading task in the task list includes:

[0116] When the composite transport equipment completes unloading, the task management platform determines whether the door opening signal can be re-acquired.

[0117] When the door opening signal is re-acquired through the task management platform, the generated allow loading signal is transmitted to the composite transport equipment.

[0118] The robotic arm is controlled to pick up the material to be processed and place it at the loading position inside the processing equipment according to the loading task in the task list.

[0119] Understandably, after completing the unloading task, the onboard system of the composite transport equipment can query the task management platform to determine which pallet on the onboard rack needs to be picked up from for processing, and whether a door opening signal can be obtained again. If no door opening signal is obtained at this time, it means that the equipment door of the processing equipment is closed, and the processing equipment controls the door to open. If a door opening signal is obtained again, it means that the equipment door is still open, and thus loading can proceed. The task management platform can generate a loading permission signal and transmit it to the onboard system.

[0120] After receiving the permission signal for loading, the vehicle system controls the robotic arm to pick up the material to be processed from the material tray containing the material to be processed through the gripper and place it into the position where the material was unloaded. This position can then be used as the loading position. After the placement is completed, the robotic arm is retracted and the loading completion signal is transmitted to the task management platform.

[0121] Upon receiving a completion loading signal, the task management platform relays this information to the processing equipment. The equipment then closes its doors, secures the loading platform, and begins processing. Simultaneously, the onboard system transmits the completion loading signal to the dispatching system. Following this process, the dispatching system controls the composite transport equipment to execute the next unloading and loading task from the task list, thus completing the automated loading and unloading process.

[0122] Furthermore, considering that during the gripping operation, there may be situations such as incomplete gripping or empty gripping, in order to detect whether the gripping is in place, the robotic arm is equipped with a gripper in this embodiment;

[0123] The above-mentioned step of controlling the robotic arm to clamp the finished product out of the processing equipment according to the unloading position includes:

[0124] Control the robotic arm to move to the unloading position, and control the clamp to clamp the finished product out of the processing equipment;

[0125] After the step of controlling the robotic arm to clamp the finished product out of the processing equipment according to the unloading position, the method further includes:

[0126] When the clamp is gripping, the current opening width of the clamp is obtained, and the current object being gripped by the clamp is determined;

[0127] The corresponding preset opening width range is determined based on the currently gripped object, and the gripper is used for gripping detection based on the current opening width and the preset opening width range.

[0128] It should be noted that users can pre-set the opening width range of the fixture for gripping materials and finished products through the task management platform and store it in the vehicle system. This pre-set opening width range will be used as the aforementioned preset opening width range. When the fixture is gripping, the vehicle system can obtain the current opening width of the fixture in real time and determine the object currently gripped by the fixture as the currently gripped object. This currently gripped object can be determined according to the task being performed.

[0129] Next, the onboard system can obtain the corresponding preset opening width range based on the current object being clamped and compare it with the corresponding preset opening width range. If the current opening width is detected to be lower than the preset opening width range, it indicates that there is an empty clamp. The onboard system controls the robotic arm to stop running and displays "Clamping error" on the display screen of the composite transport equipment. If the current opening width is detected to be higher than the preset opening width range, it indicates that the clamp is not in place. The onboard system controls the robotic arm to stop running and displays "Clamping not properly clamped" on the display screen, thus completing the clamping detection.

[0130] Furthermore, considering that collisions caused by obstacles may occur during the movement of the composite transport equipment, resulting in changes in the position of objects on the vehicle-mounted material rack, thereby affecting the automatic execution of subsequent tasks, this embodiment, after the step of traveling along the described path to the equipment location of the processing equipment, further includes:

[0131] When the movement of the movable base is detected, the scanning component scans a first preset range and determines whether there are obstacles within the first preset range based on the first scanning result;

[0132] If so, the camera component is controlled to take a picture of the vehicle-mounted rack, and the obtained third shooting result is transmitted to the task management platform so that the task management platform can determine the rack status of the vehicle-mounted rack based on the third shooting result;

[0133] When the material rack is in a normal state, continue to control the movement of the movable base.

[0134] It should be noted that the aforementioned first preset range can be set according to actual conditions, and this embodiment does not impose any restrictions on it. The aforementioned rack status can be the position status of the upper rack tray and the lower rack tray of the vehicle-mounted rack.

[0135] In practical use, in this embodiment, the vehicle-mounted system can scan in real time within a first preset range using a depth camera while controlling the movement of the movable chassis. Based on the obtained first scan result, it can determine whether there is an obstacle. If there is, it indicates that a collision may have occurred. Then, the vehicle-mounted system can use the camera to capture the status of the upper and lower racks on the vehicle-mounted material rack and transmit the obtained third capture result to the task management platform. The task management platform then compares the third capture result with the preset positions of the upper and lower racks to determine whether the position of the material tray has changed. The generated material rack status is then transmitted to the vehicle-mounted system. The vehicle-mounted system determines whether the material rack status is normal. If it is normal, it means that the position of the material tray has not changed, and the movable base continues to move. If it is not normal, a change may have occurred, and the robotic arm is used to adjust it to the preset position to ensure the smooth execution of subsequent tasks, or an alarm is triggered on the display screen to prompt the user to make timely adjustments.

[0136] Reference Figure 5 , Figure 5 This is a schematic diagram of network diagnosis in the third embodiment of the robotic arm control method of this application. Based on the above embodiments, the third embodiment of the robotic arm control method of this application is proposed.

[0137] In this embodiment, considering that the on-board system, dispatching system, and task management platform of the composite transportation equipment can all be connected via wireless network, and that the task management platform, dispatching system, and processing equipment can also be connected via wireless network, and that users are generally close to the composite transportation equipment, in order to enable the composite transportation equipment to have network fault location capabilities when a network failure occurs, such as... Figure 5 As shown, based on the above embodiments, in this embodiment, before step S10, the following step is further included:

[0138] The generated query command is sent to the task management platform so that the task management platform can determine whether the equipment status of the processing equipment can be successfully obtained and generate a judgment result;

[0139] If the judgment result fails to be obtained, a first robotic arm control result is generated;

[0140] When the judgment result is successfully obtained, a second robotic arm control result is generated based on the judgment result.

[0141] It should be noted that the aforementioned inquiry command can be generated when the composite transport equipment requires robotic arm control. Based on the above scenario, the onboard system needs to communicate with the task management platform when performing loading and unloading tasks. Therefore, the aforementioned inquiry command can be generated after the composite transport equipment arrives at the processing equipment's location (i.e., the aforementioned arrival signal). Of course, it can also be other commands generated when robotic arm control is required; this embodiment does not limit this.

[0142] It is understandable that, since the processing equipment completion signal and door opening signal in the above embodiments can characterize the equipment status of the processing equipment, the task management platform can determine whether it can obtain the processing completion signal and door opening signal of the processing equipment after receiving the query command, so as to obtain the equipment status of the processing equipment.

[0143] It should also be noted that when the composite transport equipment arrives at the processing equipment to perform loading and unloading tasks, the on-board system can generate an arrival signal and transmit it to the task management platform. This arrival signal can then be used as the aforementioned query instruction to inquire whether the task management platform has received the processing equipment completion signal and the door opening signal, and simultaneously start timing.

[0144] Upon receiving the arrival signal, the task management platform determines whether it can successfully acquire the processing completion signal and door opening signal from the processing equipment. These signals characterize the equipment status, and the platform generates the aforementioned judgment result. The onboard system then determines whether it can successfully receive this judgment result. If the judgment result fails to be received, a first robotic arm control result is generated; if the judgment result is successful, a second robotic arm control result is generated based on that result. This allows users to obtain the robotic arm control result from the composite transportation equipment, improving the user experience.

[0145] Furthermore, in order to locate specific network faults when acquisition fails, in this embodiment, the step of generating a first robotic arm control result when the judgment result is acquired fails includes:

[0146] If the judgment result fails to be obtained, the result of a network failure between the robot arm and the task management platform will be taken as the first robot arm control result.

[0147] In order to perform specific robotic arm control upon successful acquisition, in this embodiment, the step of generating a second robotic arm control result based on the judgment result upon successful acquisition includes:

[0148] When the judgment result is successfully obtained, it is determined whether the task management platform can successfully obtain the equipment status of the processing equipment based on the judgment result;

[0149] When the task management platform fails to obtain the device status, the result of a network failure between the task management platform and the processing equipment is taken as the control result of the second robotic arm.

[0150] In practical use, specifically as follows: Figure 5 As shown, if the vehicle system has not received the judgment result generated by the task management platform by the end of the timeout, it can repeatedly send the arrival signal several times. If the judgment result cannot be obtained even after these attempts, it indicates that there is no response between the task management platform and the vehicle system (i.e., no response between them). Figure 5 If there is no response, it can be determined that at least the network failure has occurred between the task management platform and the composite transport equipment. The control result of the robotic arm is taken as the first control result of the robotic arm and displayed on the display screen of the composite transport equipment. Since the network status between the task management platform and the processing equipment cannot be determined at this time, "Network abnormality, please check the network of composite transport equipment, processing equipment and task management platform" can be displayed.

[0151] If the onboard system obtains the judgment result before the timer ends, it indicates that the network between the onboard system and the task management platform is normal. Based on this judgment result, a second robotic arm control result can be generated. This result determines whether the task management platform can successfully obtain the processing completion signal and the door opening signal from the processing equipment. If the judgment result indicates that the processing completion signal and the door opening signal can be successfully obtained, it indicates that the network status between the task management platform and the processing equipment is normal (i.e.,...). Figure 5 (Successfully completed), and this result is used as the control result of the second robotic arm mentioned above. The display screen of the composite transportation equipment shows "Network normal";

[0152] If the judgment result indicates a failure to obtain the processing completion signal and door opening signal from the processing equipment, it means that the task management platform is unable to obtain these signals, indicating a network failure between the task management platform and the processing equipment. Figure 5 (If the process fails), this result will be used as the control result of the second robotic arm mentioned above. The display screen of the composite transport equipment will show "Network error between the task management platform and the processing equipment, please check".

[0153] Therefore, the above method can be used to determine the network status at each location on the composite transportation equipment end, and complete the control of the robotic arm.

[0154] Furthermore, considering that there may be two network failure scenarios when there is no response between the task management platform and the composite transportation equipment: 1. There is a network failure only between the task management platform and the composite transportation equipment; 2. There are network failures between the task management platform and the composite transportation equipment, and between the task management platform and the processing equipment; and in order to determine which specific scenario is present and improve the accuracy of fault location, in this embodiment, before the step of sending the generated query command to the task management platform, the following step is also included:

[0155] When a diagnostic need is determined, the port status of the port connected to the task management platform is determined. The port status is generated by the task management platform based on the network connection status between the port and the processing equipment.

[0156] When the port status is in a blocked state, it is determined that a network failure has occurred between the task management platform and the processing equipment;

[0157] When the port status is in the allow receiving state, the step of sending the query command to the task management platform is executed.

[0158] It should be noted that the aforementioned diagnostic requirement can be a requirement for robotic arm control; in this embodiment, the arrival at the equipment location can still be considered a diagnostic requirement. The aforementioned port status can be the port status of the connection between the task management platform and the vehicle system, and can be generated based on the network status between the task management platform and the processing equipment.

[0159] In this embodiment, before receiving a query command, the task management platform can also obtain the network status between itself and the processing equipment, and set the port status of the port connected to the composite transport equipment according to the network status; when the port status is in the prohibited receiving state, it stops receiving query commands sent by the composite transport equipment; when the port status is in the allowed receiving state, it allows receiving query commands sent by the composite transport equipment.

[0160] It should be noted that the network status mentioned above can refer to the network connection status between the task management platform and the processing equipment.

[0161] The above-mentioned step of setting the port status of the port connected to the composite transport equipment according to the network status includes:

[0162] When a network failure occurs between the composite transport equipment and the network, the port status of the port connected to the composite transport equipment is set to a disabled receiving state according to the network status.

[0163] When there is no network failure between the composite transport equipment and the network, the port status of the port connected to the composite transport equipment is set to the receive-allowed state according to the network status.

[0164] In practical use, the task management platform can monitor the network connection status between itself and the processing equipment in real time, determine whether there is a network fault, and generate port status based on the network connection status. Specifically, when a network fault exists, the port connected to the vehicle system can be set to a disabled state. When the composite transport equipment arrives at the processing equipment (indicating a diagnostic need), it can obtain the port status as disabled, indicating that there is a network fault between the task management platform and the processing equipment. The display screen of the composite transport equipment will show "Network abnormality between the task management platform and the processing equipment, please check".

[0165] When there is no network fault, the port connected to the vehicle-mounted system can be set to receive mode. When the composite transport equipment arrives at the processing equipment (indicating a diagnostic need), it will detect that the port is in receive mode, indicating that there is no network fault between the task management platform and the processing equipment. The vehicle-mounted system will then send the arrival signal to the task management platform. This allows the composite transport equipment to determine whether a network fault exists between the task management platform and the processing equipment even when one does occur, further improving the accuracy of the robotic arm control.

[0166] Continue to refer to Figures 1 to 5 Furthermore, based on the above embodiments, a fourth embodiment of the robotic arm control method of this application is proposed.

[0167] Furthermore, considering that when the on-board system controls the robotic arm to perform loading and unloading operations, personnel frequently pass through the working environment of the composite transport equipment. The robotic arm's material handling process involves rotating at a fixed and relatively fast speed, which may cause workers to react too late, resulting in accidental injury due to the robotic arm's rotation, thus posing a safety hazard. Therefore, in this embodiment, when controlling the robotic arm to run, a preset range is scanned, and the presence of personnel within the preset range is determined based on the scan results. If personnel are present, the current distance between the personnel and the robotic arm is determined, and the operating speed of the robotic arm is adjusted accordingly. The robotic arm is then controlled according to the adjusted operating speed.

[0168] Understandably, in this embodiment, when the composite transport equipment arrives at the location of the processing equipment, the on-board system generates an arrival signal and transmits it to the task management platform, and performs network fault detection based on this arrival signal. If it is determined that the network between the processing equipment and the task management platform, and between the task management platform and the on-board system, is normal, the unloading task can begin. This involves determining whether a loading permission signal generated by the task management platform can be received, and upon receiving the signal, controlling the robotic arm to remove the finished product from the processing equipment according to the unloading task in the task list. While the on-board system controls the robotic arm, it can perform the aforementioned scanning of a preset area and determine whether there are personnel operating within that area based on the scanning results.

[0169] It should be noted that the aforementioned preset range can be set according to actual conditions; this embodiment uses 30cm for illustration. In actual use, the vehicle-mounted system in this embodiment can scan the environment within the preset range (which can be denoted as the second preset range) in real time using the aforementioned depth camera. Based on the obtained scan results (which can be denoted as the second scan result), it determines whether personnel are present. If personnel are present, the vehicle-mounted system adjusts the operating speed of the robotic arm, and then completes the loading and unloading operations using the robotic arm at the adjusted operating speed. This allows the robotic arm to reduce its operating speed when personnel are present, thus providing more reaction time for personnel during the loading and unloading process and improving safety. If no personnel are present, the system continues to operate at the previous speed.

[0170] It is understood that the aforementioned current distance can be the distance between the composite transportation equipment and the personnel. In this embodiment, different speed adjustment ratios can be preset according to different current distances. Then, in actual use, the corresponding speed adjustment ratio can be determined based on the current distance, and the operating speed of the robotic arm can be adjusted according to this speed adjustment ratio.

[0171] Furthermore, to further enhance safety, in this embodiment, the step of adjusting the operating speed of the robotic arm based on the current distance includes:

[0172] When the current distance reaches the first preset distance, the operating speed of the robotic arm is reduced according to the first preset deceleration ratio;

[0173] When the current distance reaches the second preset distance, the operating speed of the robotic arm is reduced according to the second preset reduction ratio. The first preset distance is higher than the second preset distance, and the first preset reduction ratio is lower than the second preset reduction ratio.

[0174] It should be understood that the first preset distance can be any distance higher than the second preset distance, and the second preset distance can be any distance higher than zero. In this embodiment, the first preset distance can be described as 30cm, and the second preset distance can be described as 20cm.

[0175] Both the aforementioned first preset speed reduction ratio and the aforementioned second preset speed reduction ratio can be ratios by which the operating speed is reduced. Furthermore, the aforementioned first preset speed reduction ratio can be any ratio lower than the second preset speed reduction ratio, and the aforementioned first preset speed reduction ratio can be any ratio higher than zero. In this embodiment, the aforementioned first preset speed reduction ratio can be described as 50%, and the aforementioned second preset speed reduction ratio can be described as 100%.

[0176] In this embodiment, when the vehicle system detects a person within a preset range, it determines the current distance between the system and the person. When the current distance reaches 30cm, the operating speed of the robotic arm is reduced by 50%. When the current distance reaches 20cm, the operating speed of the robotic arm is reduced by 100%, i.e., the robotic arm stops operating.

[0177] It should be emphasized that the first preset speed reduction ratio and the second preset speed reduction ratio can be set according to the actual situation, and this embodiment does not impose any restrictions on them.

[0178] Furthermore, to further enhance safety, in this embodiment, the step of reducing the operating speed of the robotic arm according to the first preset reduction ratio includes:

[0179] The current moving speed of the person is obtained, and a corresponding first preset deceleration ratio is determined based on the current moving speed;

[0180] The operating speed of the robotic arm is reduced according to the corresponding first preset speed reduction ratio.

[0181] It should be noted that the aforementioned current moving speed can be the speed at which the personnel are currently moving, which can also be obtained through measurement. The aforementioned vehicle-mounted system can preset different first-preset deceleration ratios based on different current moving speeds. For example, when the personnel move faster, it means that the time left for the personnel to react is shorter, and thus the corresponding first-preset deceleration ratio can be set higher. When the personnel move slower, it means that the time left for the personnel to react is longer, and thus the corresponding first-preset deceleration ratio can be set lower while ensuring production efficiency.

[0182] In actual use, when the vehicle system detects that the current distance has reached 30cm, it can obtain the current moving speed of the person, determine the corresponding first preset deceleration ratio based on the current moving speed, and adjust the running speed of the robotic arm according to the first preset deceleration ratio.

[0183] Furthermore, to ensure production efficiency while reducing speed, in this embodiment, when the onboard system reduces the operating speed of the robotic arm according to the corresponding first preset speed reduction ratio, it can also be adjusted in conjunction with the current movement direction of the personnel. Specifically, the step of reducing the operating speed of the robotic arm according to the corresponding first preset speed reduction ratio includes:

[0184] Determine the current direction of movement of the person, and determine the angle between the current direction of movement and the current direction of movement of the person;

[0185] The first preset speed reduction ratio is adjusted according to the current moving angle, and the operating speed of the robotic arm is reduced according to the adjusted first preset speed reduction ratio.

[0186] It is understood that the aforementioned current movement direction can be the movement direction of the person currently walking, which can generally be determined by the direction the person's face is facing, and of course, it can be determined by other methods as well; this embodiment does not limit this. The aforementioned current movement angle can be the angle between the person's current movement direction and the line connecting the person and the composite transportation equipment.

[0187] For easier understanding, please refer to Figure 6 To explain, Figure 6 This is a schematic diagram illustrating the adjustment of the robotic arm's operating speed in the fourth embodiment of the robotic arm control method of this application. Figure 6 As shown, where Figure 6 Point A represents the current position of the composite transportation equipment. BC represents the distance a person needs to travel from point B to point C. Both points B and C can lie on a circle centered at A with a radius of a first preset distance. Point D can lie on a circle centered at A with a radius of a second preset distance. Point E is the midpoint of BC, and AE is perpendicular to BC.

[0188] Therefore, when a person is at point B and needs to move to point C, since the current distance between them and the composite transport equipment at point B has reached the first preset distance, the onboard system needs to adjust the operating speed of the robotic arm. After the onboard system determines the corresponding first preset deceleration ratio based on the person's current movement speed, the onboard system can determine that the person's current movement direction is from B to C, and then determine the angle between the onboard system and the person's movement direction, i.e., the angle between AB and BC, as the aforementioned current movement angle.

[0189] After obtaining the current moving angle, the first preset speed reduction ratio can be adjusted according to the angle. For example, when the current moving angle is the angle at which the person is approaching the composite transport equipment, the first preset speed reduction ratio can be appropriately increased to reduce the operating speed of the robotic arm more. When the current moving angle is the angle at which the person is away from the composite transport equipment, it means that even if the person is within the preset range, they are moving away from the composite transport equipment. Therefore, the first preset speed reduction ratio can be appropriately reduced to reduce the operating speed of the robotic arm less and gradually improve the processing efficiency.

[0190] Furthermore, in order to adjust the first preset deceleration ratio, in this embodiment, the step of adjusting the first preset deceleration ratio according to the current moving angle includes:

[0191] Determine the preset angle range in which the current moving angle is located;

[0192] When the current moving angle is within the first preset angle range, the first preset deceleration ratio is increased;

[0193] When the current moving angle is within the second preset angle range, the first preset deceleration ratio is reduced.

[0194] It should be understood that the aforementioned preset angle interval can be used to determine whether a person is currently approaching or moving away from the composite transportation equipment. In this embodiment, the preset angle interval can be divided into a first preset angle interval and a second preset angle interval. The first preset angle interval can be the interval in which a person is currently approaching the composite transportation equipment, and the second preset angle interval can be the interval in which a person is moving away from the composite transportation equipment.

[0195] based on Figure 6 As shown, in this embodiment, the first preset angle interval can be set to a range greater than or equal to 0° and less than 90°, and the second preset angle interval can be set to a range greater than 90° and less than or equal to 180°. Therefore, in actual use, after obtaining the current angle of movement, the vehicle system can determine its location within the preset angle interval. When it is within the first preset angle interval (i.e.,...) Figure 6 If the BE segment is in the middle, it means that when the personnel move along the current direction of movement, they will get closer and closer to the composite transportation equipment. As a result, the on-board system can continue to increase the determined first preset deceleration ratio, so that the operating speed of the robotic arm is reduced even more, thereby improving safety.

[0196] When it is within the second preset included angle range (i.e. Figure 6If the CE segment indicates that the personnel are moving further and further away from the composite transport equipment as they move along the current direction, the onboard system can further reduce the predetermined first preset deceleration ratio, so that the operating speed of the robotic arm is reduced even more, thereby improving production efficiency while ensuring safety.

[0197] Furthermore, considering that the robotic arm of a composite transportation device generally rotates within a certain range, and when personnel do not need to pass through this range, further reducing the operating speed of the robotic arm may lead to lower production efficiency. Therefore, in this embodiment, before the step of reducing the operating speed of the robotic arm according to a first preset reduction ratio when the current distance reaches a first preset distance, the method further includes:

[0198] Obtain the remaining tasks of the robotic arm, and determine the range of motion of the robotic arm based on the remaining tasks;

[0199] Determine the current direction of movement of the person, and predict the movement trajectory of the person based on the current direction of movement;

[0200] When the movement trajectory exists within the activity range, the step of reducing the operating speed of the robotic arm according to a first preset deceleration ratio is executed when the current distance reaches a first preset distance.

[0201] Continue based on Figure 6 As shown, it should be noted that the aforementioned remaining tasks can be unfinished tasks remaining from the loading and unloading operations of the composite transport equipment, and can be determined based on the current progress. The aforementioned range of motion of the robotic arm can be the range of motion required by the robotic arm to complete the remaining task. The aforementioned movement trajectory can be the trajectory that a person is expected to walk along in the current direction of movement.

[0202] In this embodiment, after detecting the presence of a person within a preset range, the vehicle-mounted system may not immediately determine whether the first preset distance has been reached. Instead, it may first determine the remaining tasks of the robotic arm based on its current progress, and then determine the range of motion required for the robotic arm to perform those tasks based on the remaining tasks. For example, suppose... Figure 6 The range between AF and AG.

[0203] After determining the activity area, the vehicle-mounted system can further determine the person's current direction of movement, for example, from B to C, and can predict the person's trajectory based on this current direction of movement. Figure 6In the middle BC. After determining the movement trajectory, it can be determined whether the movement trajectory exists within the activity range. If it exists within the activity range, it means that the personnel will pass through the activity range of the robotic arm, which poses a risk. Therefore, when the current distance reaches the first preset distance, the running speed of the robotic arm can be reduced according to the first preset deceleration ratio.

[0204] Furthermore, after the step of predicting the movement trajectory of the person based on the current direction of movement, the method further includes:

[0205] When the movement trajectory does not exist within the activity range, the operating speed of the robotic arm is increased based on the current distance.

[0206] When the movement trajectory is not within the range of activity, it means that the personnel will not pass through the range of activity of the robotic arm and there is no risk. In order to ensure production efficiency, the running speed of the robotic arm can be appropriately increased. The specific increase can be set according to the actual situation. Of course, it is also possible not to increase it and continue to run at the previous running speed.

[0207] Reference Figure 7 , Figure 7 This is a schematic diagram of the processing system in the fifth embodiment of the robotic arm control method of this application. Based on the above embodiments, the fifth embodiment of the processing system of this application is proposed.

[0208] Considering that when the material trays of the vehicle-mounted material rack are full of finished products or insufficient materials to be processed, it is necessary to manually move the full stack of finished products to the warehouse for unloading or to manually move the materials to be processed from the warehouse for replenishment, resulting in a poor user experience. Therefore, in this embodiment, such as Figure 7 As shown, the system also includes: a three-dimensional library;

[0209] Following step S03 above, the procedure also includes:

[0210] The task management platform generates material feeding and replenishment instructions based on the status of the unloading rack and loading rack of the composite transportation equipment.

[0211] When the scheduling system receives the material release and replenishment instruction, it controls the composite transport equipment to travel directly to the automated warehouse for material release and replenishment.

[0212] It should be noted that the aforementioned automated warehouse can be used to store finished products and materials awaiting processing. Furthermore, the aforementioned automated warehouse can be connected to a task management platform and a scheduling system. The aforementioned unloading rack status corresponds to the status of the rack storing the pallets of finished products in the vehicle-mounted rack, and the aforementioned loading rack status corresponds to the status of the rack storing the pallets of materials awaiting processing in the vehicle-mounted rack.

[0213] In this embodiment, after the composite transport equipment completes the loading task, the vehicle-mounted system can take pictures of the vehicle-mounted material rack with a camera and transmit the pictures to the task management platform. The task management platform analyzes the pictures to determine whether there is insufficient material to be processed in the material tray of the loading rack, and generates the loading rack status. At the same time, it can determine whether there is a full stack of finished products in the material tray of the unloading rack, and generates the unloading rack status.

[0214] If there is a shortage of materials to be processed, it indicates that replenishment from the automated storage and retrieval system (AS / RS) is needed; if there is a full stack of finished products, it indicates that the finished products need to be placed into the AS / RS. Upon determining that the above situations have occurred, the task management platform generates a material placement / replenishment instruction and transmits it to the scheduling system. Upon receiving this instruction, the scheduling system indicates that the composite transport equipment needs to be placed and / or replenished, and controls the composite transport equipment to travel to the AS / RS for the material placement / replenishment operation.

[0215] Specifically, the steps described above, whereby the scheduling system controls the composite transport equipment to travel directly to the automated warehouse for material release and replenishment upon receiving the material release and replenishment instruction, include:

[0216] When the scheduling system receives the material release and replenishment instruction generated by the task management platform, it generates a material release and replenishment path based on the current position of the composite transportation equipment and the warehouse position of the automated warehouse.

[0217] The scheduling system sends the material feeding and replenishment path to the composite transport equipment, so that the composite transport equipment travels to the automated warehouse according to the material feeding and replenishment path for material feeding and replenishment.

[0218] Understandably, the aforementioned warehouse location can be the location of the automated storage and retrieval system (AS / RS), and the scheduling system can pre-store the AS / RS location as the warehouse location. The aforementioned material loading and unloading path can be the path taken by the composite transport equipment to the AS / RS. After receiving the material loading and unloading instruction, the scheduling system can generate a material loading and unloading path based on the current location of the composite transport equipment and the warehouse location of the AS / RS, and transmit it to the vehicle-mounted system. The vehicle-mounted system can then transmit the material loading and unloading path to the movable base, so that the movable base can travel to the AS / RS according to the material loading and unloading path to perform material loading and unloading.

[0219] Furthermore, considering that automated warehouses typically have access restrictions (e.g., fences), in order to automatically grant access to the composite transport equipment when it needs to be unloaded or replenished, in this embodiment, the step of sending the unloading / replenishment path to the composite transport equipment through the scheduling system includes:

[0220] The material feeding and replenishment path is sent to the automated warehouse through the scheduling system, so that the automated warehouse can grant the composite transport equipment entry permission.

[0221] After receiving the signal indicating that the warehousing permission has been successfully granted, the scheduling system sends the material release and replenishment path to the composite transport equipment.

[0222] It should be understood that the aforementioned entry permission refers to the permission for the composite transport equipment to enter the automated storage and retrieval system (AS / RS). After the scheduling system generates a material feeding and replenishment path, it can also send this path to the AS / RS. Upon receiving the path, the AS / RS can grant entry permission to the composite transport equipment and send a success signal back to the scheduling system. The scheduling system can then send the material feeding and replenishment path to the vehicle-mounted system, which will then control the movable base to automatically travel to the AS / RS according to the path.

[0223] Furthermore, after the composite transport equipment arrives at the automated warehouse, in order to inform the automated warehouse of the equipment's exact location for subsequent material loading and replenishment, this embodiment may install an identifier block on the composite transport equipment. The location of the identifier block is not limited in this embodiment. Specifically, after the step of sending the material loading and replenishment path to the composite transport equipment through the scheduling system, the process further includes:

[0224] After receiving the arrival instruction from the composite transport equipment, the scheduling system feeds the arrival instruction back to the automated storage and retrieval system, so that the automated storage and retrieval system can identify the identification block of the composite transport equipment, determine the current location of the composite transport equipment, and generate a query instruction.

[0225] Upon receiving the query instruction, the scheduling system sends the query instruction to the task management platform and receives material information from the task management platform.

[0226] The scheduling system transmits the material information to the automated storage and retrieval system, so that the automated storage and retrieval system can release and replenish materials to the composite transport equipment according to the material information.

[0227] It should be noted that the aforementioned arrival instruction can be an instruction generated by the composite transport equipment after it arrives at the warehouse location. The aforementioned identification block can be a marker block used to identify the specific location of the composite transport equipment.

[0228] In practical use, once the composite transport equipment arrives at the warehouse location, the onboard system transmits the generated arrival command to the dispatch system. Upon receiving the arrival command, the dispatch system transmits it to the automated warehouse. The automated warehouse can be equipped with cameras that can capture images of the warehouse location, including the composite transport equipment. These images are then analyzed to identify the specific locations of the marker blocks on the composite transport equipment, thus determining its current location and generating a query command that is transmitted to the dispatch system.

[0229] When the scheduling system receives a query instruction, it can send the query instruction to the task management platform. The task management platform can then send relevant material information back to the scheduling system based on the query instruction. This material information may include the location information of the materials to be processed in the automated warehouse and the location information of the processed finished products.

[0230] After receiving the material information, the scheduling system can feed back to the automated warehouse. The automated warehouse can then pick up the finished product from the unloading rack and place it in the corresponding storage position of the finished product according to the specific current position of the composite transport equipment to complete the unloading operation. It can also pick up the material to be processed from the material to be processed position and place it in the loading rack of the composite transport equipment to complete the replenishment operation.

[0231] Furthermore, in order to enable the automated warehouse to allow the composite transport equipment to leave after completing the material unloading and replenishment operation on the composite transport equipment, in this embodiment, after the step of sending the material unloading and replenishment path to the composite transport equipment through the scheduling system, the following is also included:

[0232] After receiving the completion instruction from the automated warehouse, the scheduling system transmits the generated permission opening instruction to the automated warehouse, so that the automated warehouse can open the outbound permission for the composite transport equipment.

[0233] Upon receiving a signal indicating successful activation of the outbound authorization, the scheduling system controls the composite transport equipment to leave the automated warehouse.

[0234] Understandably, once the automated storage and retrieval system (AS / RS) completes its material feeding and replenishment operations, it can transmit the generated completion instruction to the scheduling system and task management platform. Upon receiving the completion instruction, the scheduling system can transmit the generated permission activation instruction to the AS / RS. After receiving the permission activation instruction, the AS / RS can activate the outbound permission of the composite transport equipment and transmit a successful outbound permission activation signal to the scheduling system. The scheduling system then controls the composite transport equipment to leave the AS / RS, thereby completing the automatic material feeding and replenishment operation of the composite transport equipment and further improving the user experience.

[0235] Furthermore, considering that after the composite transport equipment completes its loading and unloading tasks, it will wait in place for the next task list to be issued by the scheduling system, resulting in the waiting time not being utilized by the composite transport equipment, this embodiment further includes the following after step S03:

[0236] When the scheduling system detects that the composite transport equipment has completed the loading task, it determines the next task time for the processing equipment.

[0237] The scheduling system determines a preset executable task based on the next task time and controls the composite transportation equipment to execute the preset executable task.

[0238] It should be noted that the aforementioned next task time can be the time when the scheduling system sends the task list to the vehicle-mounted system of the composite transportation equipment next time. It can be determined by the signal fed back by the processing equipment, or it can be determined by other means. This embodiment does not limit this.

[0239] It is understood that the aforementioned preset executable tasks can be pre-set tasks that the composite transport equipment can perform while waiting, such as charging, feeding and replenishing materials, etc., and this embodiment does not limit them.

[0240] In actual use, after the on-board system completes the current loading task, it can transmit the generated completion signal to the scheduling system. The scheduling system then determines the next task time of the processing equipment and selects a suitable preset executable task based on the length of the next task time. In turn, it can control the composite transport equipment to execute the preset executable task, so that the composite transport equipment can make full use of the waiting time after completing the loading.

[0241] To accurately determine executable tasks, in this embodiment, the step of determining a preset executable task based on the next task time using the scheduling system includes:

[0242] The scheduling system determines the waiting time of the composite transportation equipment based on the next task time.

[0243] The scheduling system determines a preset executable task based on the waiting time and controls the composite transportation equipment to execute the preset executable task.

[0244] It should be noted that the aforementioned waiting time can be the time for the onboard system to wait for the next task list to be issued. After the scheduling system determines the time of the next task, it can obtain the current time and determine the waiting time required for the composite transportation equipment based on the current time and the time of the next task; then, based on the waiting time, it selects an appropriate preset executable task and controls the composite transportation equipment to execute the preset executable task.

[0245] Furthermore, when the preset executable task is charging, in this embodiment, the steps of determining the preset executable task based on the waiting time by the scheduling system and controlling the composite transportation equipment to execute the preset executable task include:

[0246] The scheduling system obtains the current location of the composite transportation equipment and the charging location of the charging pile, and generates a first charging path based on the current location and the charging location.

[0247] The scheduling system determines the first charging travel time based on the first charging route.

[0248] When the difference between the waiting time and the first charging travel time is at least longer than a first preset time, the scheduling system controls the composite transportation equipment to perform a charging task according to the first charging path.

[0249] It is understood that the processing system in this embodiment may also include a charging pile, through which the composite transport equipment can be charged. The aforementioned charging location can be the location of the charging pile, or it can be obtained in advance through user calibration. The aforementioned first charging path can be the path from the current location of the composite transport equipment to the charging location. The aforementioned first charging travel time can be the sum of the time required for the composite transport equipment to travel from its current location to the charging location and the time required to return from the charging location to its current location. The aforementioned first preset time can be the duration to ensure that the composite transport equipment can be charged at least, such as 3 minutes, etc., and can be set according to the actual situation. This embodiment does not impose any restrictions on this.

[0250] In actual use, once the scheduling system determines the waiting time of the composite transportation equipment, it can obtain the current location of the composite transportation equipment and the charging location of the charging pile, and generate a first charging path for charging based on the current location and the charging location; then, it can obtain the moving speed of the composite transportation equipment, and based on the moving speed and the first charging path, it can obtain the sum of the time required for the composite transportation equipment to travel from the current location to the charging location and the time required to return from the charging location to the current location, which is the aforementioned first charging travel time;

[0251] After obtaining the first charging travel time, the dispatch system determines whether the difference between the waiting time and the first charging travel time is at least longer than the first preset time (e.g., 3 minutes). If so, it means that the composite transport equipment has at least 3 minutes left to charge after deducting the round-trip charging travel time. The dispatch system can then send the first charging route to the onboard system of the composite transport equipment, and the onboard system can control the mobile chassis to travel to the charging station according to the first charging route for charging. If not, it means that the composite transport equipment has less than 3 minutes left after deducting the round-trip charging travel time, and the charging time is too short. The system can then control the composite transport equipment to wait in place for the next task list to be issued.

[0252] Furthermore, when the preset executable task is material feeding and replenishment, in this embodiment, after the step of determining the first charging driving time based on the current location and the charging location by the scheduling system, it further includes:

[0253] When the waiting time and the first charging driving time are at least longer than the second preset time, the scheduling system determines whether it receives a material release and replenishment instruction generated by the task management platform. The material release and replenishment instruction is an instruction generated by the task management platform based on the unloading rack status and loading rack status of the composite transport equipment. The second preset time is not less than the first preset time.

[0254] If the scheduling system is in operation, a material feeding and replenishment path is generated based on the current location and the warehouse location of the automated warehouse, and the composite transport equipment is controlled to perform material feeding and replenishment tasks according to the material feeding and replenishment path.

[0255] It should be understood that the above-mentioned second preset duration can be the duration to ensure that the composite transport equipment can at least perform material feeding and replenishment (e.g., 5 minutes). Since the material feeding and replenishment duration may be relatively long, the second preset duration can be set to be at least no less than the first preset duration in this embodiment. The second preset duration in this embodiment is described as 5 minutes.

[0256] It should also be understood that the above-mentioned material feeding and replenishment path can be the path taken by the composite transport equipment to the automated warehouse for material feeding and replenishment.

[0257] In actual use, after the scheduling system obtains the first charging travel time, it can determine whether the difference between the waiting time and the first charging travel time is at least longer than the second preset time (e.g., 5 minutes). If so, it means that the composite transport equipment has at least 5 minutes left for material feeding and replenishment after deducting the round-trip charging travel time, and it can be determined whether material feeding and replenishment is required. If not, it means that the composite transport equipment has insufficient time for material feeding and replenishment after deducting the round-trip charging travel time, and the composite transport equipment will then perform the charging task.

[0258] After determining that the remaining time is at least longer than the second preset time, the scheduling system can determine that the remaining time can be used to perform the material feeding and replenishment task. Then, the scheduling system determines whether material feeding and replenishment is needed and can generate an inquiry command to the task management platform. After receiving the inquiry command, the task management platform can send a shooting command to the vehicle system. The vehicle system controls the shooting component to take a picture and transmits the shooting result (referred to as the second shooting result) to the task management platform. The task management platform determines whether the current material to be processed is insufficient and whether the processed finished products are fully stacked based on the shooting result. The judgment process is the same as the above material feeding and replenishment process. When the task management platform determines that material feeding and replenishment is needed, it can generate a material feeding and replenishment command and transmit it to the scheduling system. When the scheduling system receives the material feeding and replenishment command, it still follows the same material feeding and replenishment process as above. Based on the current position of the composite transport equipment and the warehouse position of the automated warehouse, it generates a material feeding and replenishment path and transmits it to the vehicle system. The vehicle system then controls the movable chassis to travel to the automated warehouse according to the path to perform the material feeding and replenishment task.

[0259] It should be emphasized that since the material feeding and replenishment process in this embodiment is the same as that described above, please refer to the above embodiment for details, and it will not be repeated here.

[0260] Furthermore, considering that if the waiting time remains relatively long after the composite transport equipment completes the material feeding and replenishment task, and a charging task can then be performed, this embodiment, after the step of controlling the composite transport equipment to perform the material feeding and replenishment task according to the material feeding and replenishment path, further includes:

[0261] When the material feeding and replenishment task is completed, the scheduling system generates a second charging path based on the warehouse location of the automated storage and retrieval system and the charging location.

[0262] The scheduling system determines the second charging travel time based on the second charging path and updates the waiting time according to the next task time.

[0263] When the difference between the updated waiting time and the second charging travel time is at least longer than the first preset time, the scheduling system controls the composite transportation equipment to perform a charging task according to the second charging path.

[0264] It should be noted that the aforementioned second charging path can be the path taken by the composite transport equipment from the warehouse location to the charging location. The aforementioned second charging travel time can be the time required for the composite transport equipment to travel along the aforementioned second charging path.

[0265] In actual use, when the scheduling system detects that the composite transport equipment has completed the material unloading and replenishment task, it can generate the second charging path based on the warehouse location and the charging location, and determine the second charging travel time required from the warehouse location to the charging location based on the moving speed of the composite transport equipment. Then, it readjusts the waiting time based on the previously received next task time and the current time, and determines whether the difference between the updated waiting time and the second charging travel time is at least longer than the first preset time, i.e., at least longer than 3 minutes. If so, it means that there is at least 3 minutes for charging, and the second charging path can be transmitted to the vehicle system. The vehicle system then controls the movable chassis to travel to the charging pile for charging after the material unloading and replenishment is completed. If the first preset time is less than 3 minutes, the composite transport equipment is controlled to return to the equipment location to wait.

[0266] Furthermore, considering that the charging pile is being used by other integrated transportation equipment, in order to further improve time utilization, in this embodiment, before the step of generating the material release and replenishment path based on the current location and the warehouse location of the automated warehouse, the following method is also included:

[0267] The scheduling system determines the duration of charging completion for the charging pile.

[0268] When the charging end time is not less than the first charging travel time, the scheduling system executes the step of generating a material release and replenishment path based on the current location and the warehouse location of the automated warehouse.

[0269] It is understood that the charging end time mentioned above can be the time it takes for the charging pile to finish charging. It can be determined based on the waiting time of the composite transportation equipment that is currently being charged. Of course, it can also be determined in other ways. This embodiment does not limit this.

[0270] In actual use, before generating the material feeding and replenishment path, the scheduling system can first determine whether the charging pile is being used. If it is being used, the system can determine the charging end time of the charging pile and whether the charging end time is not less than the first charging travel time. If so, it means that the charging pile is being used and the composite transport equipment cannot start charging immediately when it arrives at the charging pile. Therefore, the scheduling system can first control the composite transport equipment to perform the material feeding and replenishment task, that is, to perform the operation of generating the material feeding and replenishment path based on the current location and the warehouse location of the automated warehouse.

[0271] Furthermore, if the charging end time is less than the first charging travel time, then even if the charging pile is in use, the composite transport equipment can immediately start charging when it arrives at the charging pile. Therefore, the scheduling system can determine whether the automated warehouse is busy at this time, i.e., whether there are other composite transport equipment loading and unloading materials. Based on the judgment result, it determines whether to carry out the loading and unloading task first or the charging task first. The specific process, after determining the charging end time of the charging pile through the scheduling system as described above, also includes:

[0272] When the time at the end of charging is less than the first charging travel time, the scheduling system determines the material release and replenishment travel time based on the current location and the warehouse location of the automated warehouse.

[0273] The scheduling system determines the end time of material unloading and replenishment of the automated warehouse and determines whether the end time of material unloading and replenishment is higher than the material unloading and replenishment travel time.

[0274] If the scheduling system is in operation, it controls the composite transport equipment to perform the charging task, and at the end of the material feeding and replenishment process, it controls the composite transport equipment to perform the material feeding and replenishment task.

[0275] It should be understood that the aforementioned material feeding and replenishment travel time can be the time required for the composite transport equipment to travel from its current location to the warehouse location. The aforementioned material feeding and replenishment completion time can be the time required for the automated warehouse to complete the material feeding and replenishment process, and can be determined according to the specific material feeding and replenishment process involved.

[0276] In practical use, when the scheduling system determines that the charging end time is lower than the first charging travel time, it can generate the material release / replenishment travel time based on the current location and warehouse location, and obtain the material release / replenishment end time of the automated warehouse. It then determines whether the material release / replenishment end time is higher than the material release / replenishment travel time. If so, it indicates that if the composite transport equipment performs the material release / replenishment task first, it cannot immediately perform material release / replenishment when it reaches the automated warehouse location. Therefore, the scheduling system can control the composite transport equipment to perform the charging task, and control the composite transport equipment to perform the material release / replenishment task when it detects that the material release / replenishment task of the automated warehouse has ended. If the material release / replenishment end time is not higher than the material release / replenishment travel time, the composite transport equipment can be prioritized to perform the material release / replenishment task.

[0277] Furthermore, to ensure sufficient charging time for the composite transport equipment when it performs the charging task first and then the material feeding and replenishment task, in this embodiment, before the step of controlling the composite transport equipment to perform the charging task, the following steps are also included:

[0278] The scheduling system determines the second charging travel time corresponding to the second charging route based on the warehouse location and the charging location.

[0279] The scheduling system determines the available charging time based on the waiting time, the second charging travel time, the material feeding and replenishment travel time, and the preset material feeding and replenishment required time.

[0280] When the available charging time is not less than the first preset time, the scheduling system executes the operation of controlling the composite transportation equipment to perform the charging task.

[0281] It should be noted that the preset time required for feeding and replenishing materials can be a pre-set time required for feeding and replenishing materials, and can be set according to the actual situation. This embodiment does not impose any restrictions on this.

[0282] In practical use, after determining that the waiting time for material unloading and replenishment to end is longer than the material unloading and replenishment travel time, the scheduling system can first generate the second charging path based on the warehouse location and charging location, and then generate the second charging travel time required to travel the second charging path based on the moving speed of the composite transport equipment. Next, the waiting time is subtracted by the second charging travel time, the material unloading and replenishment travel time, and the preset material unloading and replenishment time to obtain the remaining charging time, which is then used as the remaining charging time. The system then determines whether this remaining charging time is not less than the first preset time, i.e., whether the remaining charging time is not less than 3 minutes. If so, the composite transport equipment can be controlled to perform the charging task first, followed by the material unloading and replenishment task; otherwise, the composite transport equipment can be controlled to perform the material unloading and replenishment task first, and then it can be determined whether there is still sufficient time to perform the charging task after the subsequent material loading and replenishment task is completed. This further improves time utilization.

[0283] It should also be emphasized that the hybrid transportation equipment can monitor in real time whether its current power level is lower than a preset power threshold (e.g., 20%). If so, it will be fed back to the dispatching system, which will prioritize controlling the hybrid transportation equipment to perform charging tasks until it is higher than a certain preset safety threshold (e.g., 50%).

[0284] Furthermore, to achieve the above objectives, this embodiment also proposes a robotic arm control device, referring to... Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the robotic arm control device of this application.

[0285] like Figure 8 As shown, in this embodiment, the device includes:

[0286] The scanning module 801 is used to scan a preset range when the robotic arm is running, and to determine whether there are people in the preset range based on the scanning results;

[0287] The adjustment module 802 is used to determine the current distance between the robot arm and the person if the condition is met, and to adjust the operating speed of the robot arm according to the current distance.

[0288] The control module 803 is used to control the robotic arm according to the adjusted running speed.

[0289] This embodiment can scan a preset range during the operation of the robotic arm, determine whether a person is present within the range based on the scan results, and if so, determine the current distance to the person. The robotic arm's operating speed is then adjusted based on this distance, and the arm is controlled accordingly. Compared to existing robotic arms that rotate at a fixed speed, this embodiment adjusts the robotic arm's speed based on the current distance to the person, thereby improving the worker's reaction time and enhancing safety.

[0290] Other embodiments or specific implementations of the robotic arm control device of this application can be found in the above-described method embodiments, and will not be repeated here.

[0291] In addition, to achieve the above objectives, this embodiment also proposes a storage medium storing a robotic arm control program, which, when executed by a processor, implements the robotic arm control method as described above.

[0292] In addition, to achieve the above objectives, this embodiment also proposes a composite transportation device, which includes: a robotic arm and a vehicle-mounted system, wherein the vehicle-mounted system is connected to the robotic arm;

[0293] The vehicle-mounted system is used to scan a preset range when controlling the robotic arm to run, and to determine whether there are people in the preset range based on the scanning results;

[0294] The vehicle-mounted system is further configured to, if so, determine the current distance between itself and the person, and adjust the operating speed of the robotic arm according to the current distance;

[0295] The onboard system is also used to control the robotic arm according to the adjusted operating speed.

[0296] Other embodiments or specific implementations of the composite transportation equipment of this application can be found in the above-described method embodiments, and will not be repeated here.

[0297] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system 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 system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0298] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0299] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0300] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot arm control method characterized by, The method is applied to a composite transport device with a mechanical arm, and the method comprises: When the mechanical arm is controlled to operate, a preset range is scanned, and it is judged whether there is a person in the preset range according to the scanning result; If so, the current distance between the person and the mechanical arm is determined, and the operating speed of the mechanical arm is adjusted according to the current distance; The mechanical arm is controlled according to the adjusted operating speed.

2. The method of claim 1, wherein, The step of adjusting the operating speed of the mechanical arm according to the current distance comprises: When the current distance reaches a first preset distance, the operating speed of the mechanical arm is reduced according to a first preset speed reduction ratio; When the current distance reaches a second preset distance, the operating speed of the mechanical arm is reduced according to a second preset speed reduction ratio, the first preset distance is higher than the second preset distance, and the first preset speed reduction ratio is lower than the second preset speed reduction ratio.

3. The method of claim 2, wherein, The step of reducing the operating speed of the mechanical arm according to the first preset speed reduction ratio comprises: The current moving speed of the person is obtained, and the corresponding first preset speed reduction ratio is determined based on the current moving speed; The operating speed of the mechanical arm is reduced according to the corresponding first preset speed reduction ratio.

4. The method of claim 3, wherein, The step of reducing the operating speed of the mechanical arm according to the corresponding first preset speed reduction ratio comprises: The current moving direction of the person is determined, and the current moving angle with the person is determined based on the current moving direction; The first preset speed reduction ratio is adjusted according to the current moving angle, and the operating speed of the mechanical arm is reduced according to the adjusted first preset speed reduction ratio.

5. The method of claim 4, wherein, The step of adjusting the first preset speed reduction ratio according to the current moving angle comprises: A preset angle interval in which the current moving angle is located is determined; When the current moving angle is in a first preset angle interval, the first preset speed reduction ratio is increased; When the current moving angle is in a second preset angle interval, the first preset speed reduction ratio is decreased.

6. The method of any one of claims 2 to 5, wherein, Before the step of reducing the operating speed of the mechanical arm according to the first preset speed reduction ratio when the current distance reaches the first preset distance, the method further comprises: The remaining task of the mechanical arm is obtained, and the activity range of the mechanical arm is determined according to the remaining task; The current moving direction of the person is determined, and the moving track of the person is predicted based on the current moving direction; When the moving track exists in the activity range, the step of reducing the operating speed of the mechanical arm according to the first preset speed reduction ratio when the current distance reaches the first preset distance is executed.

7. The method of claim 6, wherein, After the step of predicting the moving track of the person based on the current moving direction, the method further comprises: When the moving track does not exist in the activity range, the operating speed of the mechanical arm is increased according to the current distance.

8. A robot control device characterized by comprising: The device comprises: A scanning module is configured to scan a preset range when a mechanical arm is controlled to operate, and to judge whether there is a person in the preset range according to the scanning result. An adjusting module is configured to determine a current distance from the person if so, and adjust a running speed of the mechanical arm according to the current distance. A control module is configured to control the mechanical arm according to the adjusted running speed.

9. A storage medium, characterized by The storage medium has a mechanical arm control program stored thereon, and the mechanical arm control program, when executed by the processor, implements the mechanical arm control method according to any one of claims 1 to 7.

10. A composite transport apparatus, characterized by The composite transportation device comprises a mechanical arm and a vehicle-mounted system connected with the mechanical arm. The vehicle-mounted system is configured to scan a preset range when controlling the mechanical arm to run, and determine whether there is a person in the preset range according to a scanning result. The vehicle-mounted system is further configured to determine a current distance from the person if so, and adjust a running speed of the mechanical arm according to the current distance. The vehicle-mounted system is further configured to control the mechanical arm according to the adjusted running speed.

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