Modular robot arm adaptive control method and system

Abstract

The application provides a kind of module mechanical arm adaptive control method and system, it is related to industrial automation control technical field, method includes: obtaining the real-time running speed of conveyer and the preset target detection interval;Based on the real-time running speed and the target detection interval, the total motion duration of the module mechanical arm completing current detection task is calculated;The actual travel of each motion stage in reciprocating motion of the module mechanical arm is obtained, and the total motion duration is dynamically distributed as the execution time of each motion stage according to the travel proportion of each motion stage;The module mechanical arm is controlled to execute the reciprocating motion according to the execution time of each motion stage.The application can realize the dual guarantee of detection accuracy and equipment safety, significantly improve the automation level and operation stability of production line.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and in particular to an adaptive control method and system for a modular robotic arm. Background Technology

[0002] In automated production lines such as packaging box production, modular robotic arms are typically used in conjunction with sensors to perform edge detection or position scanning of products on conveyor belts.

[0003] In existing control schemes, the movement speed of the modular robotic arm is usually set to a fixed value, or relies on the operator to manually adjust it based on experience.

[0004] However, the operating speed of conveyor belts often fluctuates dynamically due to production cycle time, load changes, or process requirements. When the conveyor belt speed changes, the fixed speed of the robotic arm cannot match it in real time: if the robotic arm speed is relatively too slow, it may not be able to complete enough sampling triggers within the preset detection area, resulting in missed detections; if the robotic arm speed is relatively too fast, it may exceed the rated speed of the motor, causing equipment failure or damage. This control method, lacking adaptive capability, seriously affects detection accuracy and production stability. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide an adaptive control method for a modular robotic arm, which can solve the technical problem of the lack of adaptive control in the existing technology, which seriously affects the detection accuracy and production stability.

[0006] A first aspect of this invention provides an adaptive control method for a modular robotic arm, comprising:

[0007] S1: Obtain the real-time running speed of the conveyor belt and the preset target detection spacing;

[0008] S2: Based on the real-time running speed and the target detection distance, calculate the total motion time for the module robotic arm to complete the current detection task;

[0009] S3: Obtain the actual travel distance of the module robotic arm in each motion stage during reciprocating motion, and dynamically allocate the total motion time to the execution time of each motion stage according to the travel distance ratio of each motion stage;

[0010] S4: Control the module robotic arm to perform the reciprocating motion according to the execution time of each motion stage.

[0011] A second aspect of the present invention provides an adaptive control system for a modular robotic arm, comprising: a processor and a memory;

[0012] The memory stores programs or instructions that can run on the processor, which, when executed by the processor, implement the steps of the modular robotic arm adaptive control method as described in the first aspect.

[0013] A third aspect of the present invention provides a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the adaptive control method for a modular robotic arm as described in the first aspect.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0015] In this embodiment of the invention, by acquiring the real-time operating speed of the conveyor belt and the preset target detection distance, the total motion time required for the module robotic arm to complete the current detection task is calculated. This ensures that the robotic arm's motion time reference is directly anchored to the dynamic speed of the conveyor belt and the required detection distance, rather than relying on static empirical speed values. Furthermore, based on the actual travel ratio of each motion stage in the reciprocating motion, the total motion time is dynamically allocated to the execution time of each stage. This time allocation mechanism based on travel ratio ensures that regardless of conveyor belt speed fluctuations or whether the robotic arm's sweeping in and out strokes are symmetrical, the sensor can accurately complete a predetermined number of trigger samplings within the preset target detection distance, fundamentally eliminating the risk of missed detections due to speed mismatch. Simultaneously, since the motion time is calculated in real-time based on physical constraints, it avoids potential motor overspeed damage caused by blindly increasing speed manually, achieving dual protection of detection accuracy and equipment safety, and significantly improving the automation level and operational stability of the production line. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0017] Figure 1 This is a flowchart illustrating an adaptive control method for a modular robotic arm provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of an adaptive control system for a modular robotic arm provided in an embodiment of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] The adaptive control method for modular robotic arms provided by the present invention will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0021] Example 1

[0022] Reference manual attached Figure 1 The diagram shows a flowchart of an adaptive control method for a modular robotic arm provided in an embodiment of the present invention.

[0023] This invention provides an adaptive control method for a modular robotic arm, which may include the following steps:

[0024] In step S1, the real-time operating speed of the conveyor belt and the preset target detection spacing are obtained. Specifically, the real-time operating speed reflects the actual conveying state of the conveyor belt at the current moment. It is a physical quantity that fluctuates dynamically with changes in production cycle and load, rather than a fixed set value. The target detection spacing refers to the minimum physical scanning distance or sampling coverage required to ensure that the sensor can effectively collect product features (such as the edge of the face paper). This parameter is usually pre-configured according to product process requirements. The core of this step is to establish a dynamic time reference, that is, subsequent motion control no longer relies on a fixed speed set empirically, but is anchored to the current actual operating state of the conveyor belt and the spatial constraints of process requirements, thereby providing accurate input conditions for adaptive control. It should be understood that there are multiple ways to obtain the real-time operating speed. It can be obtained by directly measuring the linear velocity of the conveyor belt surface, or indirectly by monitoring the rotational speed of the drive components, as long as it can characterize the current actual conveying speed of the conveyor belt.

[0025] In step S2, the total motion time for the module robotic arm to complete the current detection task is calculated based on the real-time running speed and the target detection distance. Specifically, the total motion time is not a pre-defined constant, but a dynamic variable determined by both the current real-time running speed and the target detection distance. The underlying physical logic is that, given the spatial constraint of the target detection distance, the faster the conveyor belt runs, the shorter the time window for the robotic arm to complete an effective scan within that distance; conversely, the slower the conveyor belt runs, the longer the available time window. Through this calculation method, the system transforms spatial detection requirements into temporal motion constraints, ensuring that regardless of changes in conveyor belt speed, the conveyor belt travel required for the robotic arm to complete a full detection task always matches the target detection distance, fundamentally eliminating the risk of missed or over-detection due to speed mismatch.

[0026] In step S3, the actual travel distance of the modular robotic arm in each motion stage of its reciprocating motion is obtained, and the total motion time is dynamically allocated to the execution time of each motion stage according to the travel distance ratio of each motion stage. Specifically, the reciprocating motion of the modular robotic arm typically includes multiple stages, such as the first stage of moving from the starting position to the detection area, and the second stage of returning from the detection area or moving to the next position. The actual travel distance of each motion stage may be equal or unequal, depending on the specific mechanical structure such as the installation position of the robotic arm and the layout of the detection points. The key mechanism of this step is "allocation according to travel distance ratio," that is, the execution time allocated to a certain motion stage is proportional to the proportion of its travel distance to the total travel distance. The advantage of this allocation method is that it does not depend on whether the travel distance of each stage is symmetrical. Whether it is equidistant reciprocating motion or non-equidistant reciprocating motion, it can ensure that the average speed of the robotic arm in each stage is consistent with the overall speed benchmark implied by the total motion time, thereby achieving precise synchronization between each motion stage and the conveyor belt motion. It should be understood that "dynamic allocation" here means that within each control cycle, as the total motion duration is updated, the execution time of each stage will also be recalculated and adjusted accordingly, rather than being set once and remaining unchanged.

[0027] In step S4, the control module robotic arm performs reciprocating motion according to the execution time of each motion stage. Specifically, this is a closed-loop execution process based on the aforementioned calculation results. The motion controller uses the execution time of each stage allocated in step S3 as the core parameter of the motion command, driving the module robotic arm to complete the corresponding stroke within the specified time. Since the execution time is calculated in real time, the actual motion rhythm of the robotic arm can closely follow the speed change of the conveyor belt, realizing true adaptive control. Through the steps S1 to S4 above, this embodiment constructs a complete adaptive control logic, organically coupling the dynamic speed of the conveyor belt, the detection spacing required by the process, and the motion stroke of the robotic arm. While ensuring detection accuracy, it avoids the tediousness and lag of frequent manual speed adjustments, significantly improving the automation level and operational stability of the production line.

[0028] Example 2

[0029] Based on Example 1, this example further explains the specific implementation method for obtaining the real-time operating speed of the conveyor belt. As an optional implementation, obtaining the real-time operating speed of the conveyor belt specifically includes: collecting position data of the drive components of the conveyor belt according to a preset sampling period; and calculating the real-time operating speed based on the position change between adjacent sampling periods and the preset sampling period. Specifically, the drive component can be a rotary encoder mounted on the drive or driven shaft of the conveyor belt, or a linear encoder that directly measures the surface displacement of the conveyor belt. The position data reflects the angular or linear displacement information of the drive component at a specific moment. The preset sampling period refers to the time interval between two consecutive readings of position data by the system; this period determines the update frequency of the speed calculation. By collecting position data from two adjacent sampling moments and calculating their difference, the displacement increment of the drive component within that time period can be obtained, and then the instantaneous operating speed of the conveyor belt at that moment can be derived by combining the time interval. This speed measurement method based on the differential principle can transform discrete physical position signals into continuous dynamic speed parameters, providing an accurate real-time input reference for the subsequent adaptive time calculation of the modular robotic arm.

[0030] Furthermore, as an optional implementation, the real-time running speed is calculated based on the position change between adjacent sampling periods and the preset sampling period, which can be achieved through the following formula:

[0031]

[0032] in, For real-time running speed, The change in position, The preset sampling period is used. In this formula, the change in position... This is the difference between the position data at the current sampling time and the position data at the previous sampling time, representing the position of the conveyor belt at... The actual physical displacement within the time window. It should be understood that the preset sampling period... The choice of sampling period is not arbitrary; it must balance the system's real-time response capability with the computational resource load. If the sampling period is too short, while it can improve the real-time performance of speed updates, it may introduce high-frequency noise interference and increase the processor load. If the sampling period is too long, it may lead to lag in speed feedback, making it impossible to capture the acceleration and deceleration changes of the conveyor belt in a timely manner. In practical applications, a suitable sampling period can be comprehensively set based on the maximum acceleration of the conveyor belt, the computational performance of the motion controller, and the required detection accuracy. For example, it can be any value between 1 millisecond and 100 milliseconds, or dynamically adjusted according to the production cycle. This application does not impose specific limitations on this.

[0033] Furthermore, it should be noted that the aforementioned encoder-based differential speed measurement method is only a preferred implementation for obtaining real-time operating speed, not the only approach. In other embodiments, non-contact measurement methods can also be used to obtain the real-time operating speed of the conveyor belt. For example, a laser Doppler velocimeter can be used to directly illuminate the surface of the conveyor belt, and the surface linear velocity can be calculated through the Doppler frequency shift effect; alternatively, an industrial camera combined with machine vision algorithms can be used to calculate the actual moving speed of the conveyor belt by continuously tracking the texture or marker points on the surface of the conveyor belt and performing optical flow analysis. These alternative solutions can also achieve real-time perception of the conveyor belt's operating status, and may have better applicability in certain specific scenarios (such as severe conveyor belt slippage, inconvenience in installing encoders, etc.). Regardless of the specific speed measurement method used, as long as the physical quantity characterizing the conveyor belt's transport speed can be accurately and in real-time obtained and used as the input parameter for subsequent adaptive control, it falls within the protection scope of this application. By providing diverse speed acquisition paths, this embodiment not only meets the requirement of full disclosure but also reserves sufficient space for equivalent substitution of technical solutions, ensuring the depth of patent protection.

[0034] Furthermore, it is necessary to determine whether the real-time operating speed of the conveyor belt is within the allowable range. If the conveyor belt speed is lower than the minimum threshold (minimum speed), it indicates that the conveyor belt has not started normally or the load is too light. If the conveyor belt speed exceeds the maximum threshold (rated maximum speed), it indicates that the conveyor belt speed is abnormal. If the conveyor belt speed is not within the allowable range, the system displays an alarm message on the human-machine interface and refuses to execute the scanning motion.

[0035] Example 3

[0036] Building upon Example 1, this example further illustrates the specific implementation of dynamically allocating execution time based on the stroke ratio. As an optional implementation, the reciprocating motion includes a first motion stage and a second motion stage. The actual stroke of the robotic arm in each motion stage of the reciprocating motion is acquired, and the total motion duration is dynamically allocated to the execution time of each motion stage according to the stroke ratio of each motion stage. Specifically, this includes: acquiring the first stroke of the first motion stage and the second stroke of the second motion stage; allocating the total motion duration as the first execution time of the first motion stage based on the ratio of the first stroke to the sum of the first and second strokes; and allocating the total motion duration as the second execution time of the second motion stage based on the ratio of the second stroke to the sum of the first and second strokes. In essence, this allocation mechanism transforms the abstract "stroke ratio" into a quantifiable time control parameter. In typical application scenarios such as packaging box edge detection, the first motion stage typically corresponds to the scanning phase where the robotic arm moves from the starting position to the detection trigger point, while the second motion stage corresponds to the scanning phase where the arm continues to move from the trigger point to the endpoint or returns. It should be understood that although this embodiment uses sweep out and sweep in as examples for illustration, this allocation logic is also applicable to any reciprocating motion scenario that includes two or more motion stages. Regardless of whether the travel distance of each stage is equal or whether the motion direction of each stage is opposite, as long as there is a clear division of travel distance, this strategy of allocating time proportionally can be used to achieve motion synchronization.

[0037] Furthermore, as an optional implementation, when the first movement stage is the sweep-out stage and the second movement stage is the sweep-in stage, the first stroke is the sweep-out distance, the first execution time is the sweep-out time, the second stroke is the sweep-in distance, and the second execution time is the sweep-in time. The specific calculations of the sweep-out time and sweep-in time can be achieved using the following formulas:

[0038]

[0039]

[0040] in, To eliminate the time-consuming process, Due to the time required for scanning, To determine the sweep distance, For the sweep distance, This represents the total motion duration. Within this formula system, and These are physical space parameters determined by the robotic arm's installation location, sensor layout, and process requirements. They are typically set during the system configuration phase and remain unchanged during operation. This refers to the time variable dynamically calculated based on the real-time operating speed of the conveyor belt and the target detection distance in Example 1. The core physical meaning of the formula lies in establishing a "rigid coupling" in the time dimension: regardless of the total motion duration... What changes occur due to fluctuations in conveyor belt speed, and how long does the sweeping take? With scan time Each component is scaled strictly according to a fixed proportion of its respective travel to the total travel. This means that when the conveyor belt accelerates... When shortened, and The time taken for both segments will be shortened proportionally, forcing the modular robotic arm to complete the same physical displacement in a shorter time, thereby increasing the average speed of the robotic arm. Conversely, when the conveyor belt decelerates, the time taken for both segments will be extended synchronously, and the average speed of the robotic arm will decrease accordingly.

[0041] This mechanism of allocating time proportionally based on distance effectively eliminates the impact of speed fluctuations on detection coverage because it ensures a constant scanning trajectory length of the sensor relative to the product. Specifically, given a fixed target detection distance, changes in the conveyor belt speed only alter the size of the time window required to complete the scan at that distance, without changing the physical space area to be covered within that window. By allocating time using the above formula, the average speed of the modular robotic arm in each movement phase is automatically adjusted to precisely complete the corresponding physical journey within the allocated time. For example, assuming a scanning distance of 30mm outwards, a scanning distance of 10mm inwards, and a total journey of 40mm, when the conveyor belt speed is slow, the total movement time... When the scan takes 2 seconds, the scan time is calculated. The scanning time is 1.5 seconds. The average speed of the robotic arm during the sweeping phase is 20 mm / s, and the average speed during the sweeping in phase is also 20 mm / s. If the conveyor belt accelerates, the total motion time will be 0.5 seconds. When the scan time is reduced to 1 second, the scanning time automatically adjusts to 0.75 seconds for the outgoing scan and 0.25 seconds for the incoming scan. At this point, the average speed of both the outgoing and incoming scan sections increases to 40 mm / s. It is evident that despite the changes in absolute time and speed, the robotic arm consistently and accurately covers a physical distance of 30 mm in the outgoing scan and 10 mm in the incoming scan, maintaining a constant effective scanning path length relative to the product. This characteristic ensures that regardless of production line cycle time adjustments, the sensor can complete a predetermined number of effective trigger samplings within the preset target detection interval, fundamentally avoiding the risk of missed or over-detection due to speed mismatch, and significantly enhancing the system's adaptability and robustness to different production cycles.

[0042] Example 4

[0043] Based on any of the schemes in Embodiments 1 to 3, this embodiment adds a pre-verification mechanism to further improve the safety and reliability of system operation. Specifically, before the control module robotic arm performs reciprocating motion according to the execution time of each motion stage, it also includes: calculating the actual speed of the drive motor of the module robotic arm based on the execution time of each motion stage and the actual travel of each motion stage; if the actual speed exceeds the preset rated maximum speed, the reciprocating motion is refused, and a suggested safety distance is output. The core value of this mechanism lies in its "prevention," that is, before the module robotic arm actually starts or changes speed, a virtual verification is performed at the computing level of the controller. Unlike traditional overcurrent protection or encoder feedback-based post-operation shutdown, this pre-verification can predict in advance whether the motor will be forced to work in an overspeed state based on the currently calculated motion parameters (i.e., the dynamically allocated needtime and corresponding movingist in the aforementioned embodiment). If the prediction result shows that the required speed exceeds the physical limit or safety threshold of the motor, the system will actively intercept the motion command, thereby fundamentally avoiding the risk of motor loss of synchronization, overheating or even mechanical damage caused by overly aggressive adaptive calculation results (such as the extremely short scan time calculated due to the instantaneous extreme speed of the conveyor belt).

[0044] Furthermore, as an optional implementation, the actual rotational speed of the drive motor of the modular robotic arm can be calculated based on the execution time and actual travel of each motion stage. This can be achieved using the following formula:

[0045]

[0046] in, The actual rotational speed is calculated by reverse calculation, and the unit is revolutions per minute (r / min). This refers to the actual travel distance during the current motion phase, i.e., the sweeping distance or sweeping in distance in the aforementioned embodiments; The pulse equivalent represents the mechanical displacement (e.g., mm / pulse) corresponding to a single pulse emitted by the controller. This parameter is determined by the lead screw, reduction ratio, and other mechanical transmission chains. The number of pulses required to drive the motor to rotate one revolution is usually determined by the resolution setting of the servo driver or stepper motor. The execution time allocated for this motion phase. The physical essence of this formula is to convert the "linear displacement requirement per unit time" into the "angular velocity requirement of the motor shaft." (Numerator part) The total number of pulses required to complete this segment of the journey was calculated and divided by... Obtain the required pulse frequency per second, then divide by... The pulse frequency is converted into revolutions per second (RPS), and then multiplied by 60 to obtain the commonly used revolutions per minute (RPM). Through this precise mathematical mapping, the control system can transform abstract time-space planning into specific motor performance indicators, providing a quantitative basis for subsequent safety assessments.

[0047] Furthermore, as an optional implementation, when it is determined that the actual reverse rotation speed exceeds the preset rated maximum speed, a suggested safety distance is output, which can be calculated using the following formula:

[0048]

[0049] in, For the recommended safe distance, This represents the rated maximum speed of the drive motor. A safety factor of 0.9 is introduced into this formula to reserve a 10% performance margin, preventing the motor from operating at full load for extended periods, extending equipment lifespan, and mitigating sudden disturbances such as power grid fluctuations. The formula's logic is essentially the inverse operation of the aforementioned speed derivation formula: [The formula is then used to] lock the maximum permissible speed. and the scheduled execution time Under the premise of [specific conditions], the maximum physical travel that the motor can cover without exceeding the speed limit is calculated in reverse. A significant improvement of this design is that when the system detects a potential overspeed risk, it doesn't simply throw out an "error code" or "emergency stop alarm," leaving operators helpless. Instead, it directly provides a calculated, actionable, quantitative recommendation. For example, the HMI can prompt "Current sweeping section is overspeeding! Suggested sweeping distance less than XX mm." This not only enhances the system's intelligence level but also greatly optimizes the human-machine interaction experience, helping field engineers quickly locate the problem boundary and make reasonable adjustments to process parameters, achieving a balance between safety and production efficiency. It should be understood that the aforementioned safety factor of 0.9 is only a preferred example. In practical applications, it can also be set to 0.85, 0.95, or other suitable values ​​based on the motor's heat dissipation conditions, load inertia, or process tolerance. This application does not impose a unique limitation on this.

[0050] Example 5

[0051] Reference manual attached Figure 2 The diagram shows a structural schematic of an adaptive control system for a modular robotic arm provided in an embodiment of the present invention.

[0052] This invention provides an adaptive control system 20 for a modular robotic arm, comprising: a processor 201 and a memory 202;

[0053] The memory 202 stores programs or instructions that can run on the processor 201. When the program or instructions are executed by the processor 201, they implement the steps of the above-described adaptive control method for the modular robotic arm and achieve the same technical effect. To avoid repetition, the present invention will not elaborate further.

[0054] It should be understood that the processor 201 in this embodiment of the invention may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0055] It should also be understood that the memory 202 in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DR RAM).

[0056] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0057] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0058] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0059] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0060] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0062] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0063] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0064] This invention provides a readable storage medium that stores a program or instructions on the storage medium. When the program or instructions are executed by a processor, they implement the steps of the above-described adaptive control method for a modular robotic arm and achieve the same technical effect. To avoid repetition, this invention will not elaborate further.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive control method for a modular robotic arm, characterized in that, include: S1: Obtain the real-time running speed of the conveyor belt and the preset target detection spacing; S2: Based on the real-time running speed and the target detection distance, calculate the total motion time for the module robotic arm to complete the current detection task; S3: Obtain the actual travel distance of the module robotic arm in each motion stage during reciprocating motion, and dynamically allocate the total motion time to the execution time of each motion stage according to the travel distance ratio of each motion stage; S4: Control the module robotic arm to perform the reciprocating motion according to the execution time of each motion stage.

2. The adaptive control method for a modular robotic arm according to claim 1, characterized in that, The real-time operating speed of the conveyor belt in step S1 specifically includes: S101: Collect position data of the drive components of the conveyor belt according to a preset sampling period; S102: Calculate the real-time running speed based on the position change of adjacent sampling periods and the preset sampling period.

3. The adaptive control method for a modular robotic arm according to claim 1, characterized in that, S102 specifically includes: Through formula Calculate the real-time running speed; in, For real-time running speed, The change in position, This is the preset sampling period.

4. The adaptive control method for a modular robotic arm according to claim 1, characterized in that, The reciprocating motion includes a first motion phase and a second motion phase; S3 specifically includes: S301: Obtain the first stroke of the first motion phase and the second stroke of the second motion phase; S302: Based on the ratio of the first stroke to the sum of the first stroke and the second stroke, allocate the total motion duration as the first execution time of the first motion phase; S303: Based on the ratio of the second stroke to the sum of the first stroke and the second stroke, the total motion duration is allocated as the second execution time of the second motion phase.

5. The adaptive control method for a modular robotic arm according to claim 4, characterized in that, The first movement phase is the sweeping phase, the first stroke is the sweeping distance, and the first execution time is the sweeping time; the second movement phase is the sweeping phase, the second stroke is the sweeping distance, and the second execution time is the sweeping time. The sweeping time is calculated using the formula. calculate; The scanning time is calculated using the formula. calculate; in, To eliminate the time-consuming process, Due to the time required for scanning, To determine the sweep distance, For the sweep distance, This represents the total duration of the exercise.

6. The adaptive control method for a modular robotic arm according to claim 1, characterized in that, Before S4, it also includes: S5: Based on the execution time of each motion stage and the actual travel of each motion stage, the actual rotational speed of the drive motor of the module robotic arm is calculated. S6: If the actual rotational speed exceeds the preset rated maximum rotational speed, the reciprocating motion is refused and a suggested safe distance is output.

7. The adaptive control method for a modular robotic arm according to claim 6, characterized in that, S5 specifically includes: Through formula Calculate the actual rotational speed; in, This refers to the actual rotational speed. For the actual itinerary, For pulse equivalent, The number of pulses per revolution. For execution time.

8. The adaptive control method for a modular robotic arm according to claim 6, characterized in that, The safe distance suggested in S6 specifically includes: Through formula Calculate the recommended safety distance; in, For the recommended safe distance, This is the rated maximum speed.

9. An adaptive control system for a modular robotic arm, characterized in that, include: Processor and memory; The memory stores programs or instructions that can run on the processor, which, when executed by the processor, implement the steps of the modular robotic arm adaptive control method as described in any one of claims 1 to 8.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the adaptive control method for the modular robotic arm as described in any one of claims 1 to 8.

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