CN108161939A - Flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm - Google Patents
Flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm Download PDFInfo
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- CN108161939A CN108161939A CN201711481187.1A CN201711481187A CN108161939A CN 108161939 A CN108161939 A CN 108161939A CN 201711481187 A CN201711481187 A CN 201711481187A CN 108161939 A CN108161939 A CN 108161939A
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- mechanical arm
- mutation
- joint
- size
- threshold value
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
The present invention is suitable for the control technology field of mechanical arm, provides flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm, wherein, method includes：Detect the information in the joint；Judge whether the manipulator motion state mutates；When the motion state of the mechanical arm mutates, whether the size for judging the mutation is more than corresponding mutation threshold value；When the mutation size is more than corresponding mutation threshold value, according to the mutation size, the mechanical arm is controlled to carry out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the original motion state of mechanical arm.The present invention is it is possible to prevente effectively from mechanical arm protects the integrity of mechanical arm, reduce the failure rate of mechanical arm directly with barrier generation mechanical collision.
Description
Technical field
The invention belongs to mechanical arm technical field more particularly to flexible barrier-avoiding method, system and the terminals of a kind of mechanical arm
Equipment.
Background technology
With the development of science and technology the mechanical structures such as various intelligent machine arms, industrial robot obtain extensively in industrial circle
General application greatly improves industrial operating efficiency, and has saved cost of labor.
However, in operation process, easily with other objects mechanical collision directly occurs for existing mechanical arm, when serious,
It can lead to mechanical arm gross distortion or damage, so as to which operation can not be continued, reduce industrial operating efficiency and increasing
The maintenance cost of mechanical arm is added.
Invention content
In view of this, an embodiment of the present invention provides flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm, with
It solves mechanical arm in the prior art and in operation process, mechanical collision directly easily occurs with other objects, when serious, can cause
Mechanical arm gross distortion or damage so as to continue operation, reduce industrial operating efficiency and increase machine
The problem of maintenance cost of tool arm.
The first aspect of the embodiment of the present invention provides a kind of flexible barrier-avoiding method of mechanical arm, including：
Detect the information in the joint；
Judge whether the manipulator motion state mutates；
When the motion state of the mechanical arm mutates, whether the size for judging the mutation is more than corresponding mutation threshold
Value；
When the mutation size is more than corresponding mutation threshold value, according to the mutation size, the mechanical arm is controlled to carry out
Intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the original motion state of mechanical arm.
The second aspect of the embodiment of the present invention provides a kind of flexible obstacle avoidance system of mechanical arm, including：
Detection module, for detecting the information in the joint；
First judgment module, for judging whether the manipulator motion state mutates；
Second judgment module, when mutating for the motion state of the mechanical arm, judging the size of the mutation is
No is more than corresponding mutation threshold value；
Control module when being more than corresponding mutation threshold value for the mutation size, according to the mutation size, controls institute
It states mechanical arm and carries out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the mechanical arm original
There is motion state.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, which is characterized in that described in the processor performs
It is realized during computer program such as the step of the above method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, which is characterized in that is realized when the computer program is executed by processor such as the above method
Step.
The present invention judges whether manipulator motion state mutates, if the fortune of mechanical arm by detecting the information in joint
Dynamic state mutates, and it is more than corresponding mutation threshold value to be mutated size, then according to mutation size, control machinery arm carries out intelligence
Avoidance it is possible to prevente effectively from directly with barrier mechanical collision occurs for mechanical arm, protects the integrity of mechanical arm, reduces mechanical arm
Failure rate, and then effectively improve the operating efficiency of mechanical arm and reduce the maintenance cost of mechanical arm.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the flexible barrier-avoiding method for the mechanical arm that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the flexible barrier-avoiding method of mechanical arm provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram of the flexible barrier-avoiding method for the mechanical arm that the embodiment of the present invention three provides；
Fig. 4 is the flow diagram of the flexible barrier-avoiding method for the mechanical arm that the embodiment of the present invention four provides；
Fig. 5 is the structure diagram of the flexible obstacle avoidance system for the mechanical arm that the embodiment of the present invention five provides；
Fig. 6 is the structure diagram of the flexible obstacle avoidance system for the mechanical arm that the embodiment of the present invention six provides；
Fig. 7 is the structure diagram of the flexible obstacle avoidance system for the mechanical arm that the embodiment of the present invention seven provides；
Fig. 8 is the structure diagram of the flexible obstacle avoidance system for the mechanical arm that the embodiment of the present invention eight provides；
Fig. 9 is the structure diagram for the terminal device that the embodiment of the present invention nine provides.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is explicitly described in attached drawing, it is clear that described embodiment is the present invention one
The embodiment divided, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, should all belong to the scope of protection of the invention.
Term " comprising " and their any deformations in description and claims of this specification and above-mentioned attached drawing, meaning
Figure is to cover non-exclusive include.Such as process, method or system comprising series of steps or unit, product or equipment do not have
The step of having listed or unit are defined in, but optionally further includes the step of not listing or unit or optionally also wraps
It includes for the intrinsic other steps of these processes, method, product or equipment or unit.In addition, term " first ", " second " and
" third " etc. is for distinguishing different objects, not for description particular order.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of flexible barrier-avoiding method of mechanical arm, the mechanical arm includes several passes
Section；Wherein, depending on the quantity in the joint is by the specific configuration classification of the mechanical arm or job specification classification.This method can be with
Applied to terminal devices such as robot, mechanical arms.The flexible barrier-avoiding method for the mechanical arm that the present embodiment is provided includes：
S101, the information in the detection joint.
S102, judge whether the manipulator motion state mutates.
In a particular application, the motion state mutation of the mechanical arm refers to arriving detected by Current mechanical arm
The situation that level of torque, current signal strength or pressure size increase or reduce suddenly suddenly in a short time.
S103, the mechanical arm motion state mutate when, judge the mutation size whether be more than it is corresponding
It is mutated threshold value.
When S104, the mutation size are more than corresponding mutation threshold value, according to the mutation size, the mechanical arm is controlled
Carry out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the original movement shape of mechanical arm
State.
In a particular application, the mechanical arm is controlled to reduce joint stiffness, mechanical arm is made to be in flexibility state, and reduce
Output torque can effectively reduce damage caused by directly mechanical collision occurs with barrier for mechanical arm.
In one embodiment, step S104, including：
Control the mechanical arm the current joint for detecting mutation and joint both ends linking arm along far from barrier
Direction is run；
Other joints of mutation are not detected in control and linking arm keeps current operating conditions.
In a particular application, the mutually independent mechanical arm of multi-joint controls current detection in certain detection of joints to during mutation
It is run to the joint of mutation along the direction far from barrier, other joints that mutation is not detected keep current operating conditions, energy
It enough so that mechanical arm normal operation, and avoids mechanical arm that mechanical collision directly occurs with barrier, reduces the damage of mechanical arm.
In one embodiment, the method further includes：
The accumulative mutation size is more than the duration of the corresponding mutation threshold value；
When the duration was more than for the second time, control the mechanical arm out of service.
In a particular application, it if the size for the mutation that mechanical arm detects is continued above corresponding mutation threshold value, says
Bright mechanical arm continues and bar contact, can not be moved along the direction far from barrier, and mechanical arm may be for a long time by external force
Injury, in order to protect mechanical arm without damage, needs control machinery arm out of service, to reduce damaged condition.Second time
Length can be configured according to actual needs.
The present embodiment judges whether manipulator motion state mutates by detecting the information in joint, if mechanical arm
Motion state mutates, and it is more than corresponding mutation threshold value to be mutated size, then according to mutation size, control machinery arm carries out intelligence
Energy avoidance it is possible to prevente effectively from directly with barrier mechanical collision occurs for mechanical arm, protects the integrity of mechanical arm, reduces machinery
The failure rate of arm, and then effectively improve the operating efficiency of mechanical arm and reduce the maintenance cost of mechanical arm.
Embodiment two
As shown in Fig. 2, the present embodiment is the further refinement to the step S101 in embodiment one.In the present embodiment,
Step S101, including：
S1011, the level of torque in the detection joint.
In a particular application, the torque of mechanical arm is that the torque that mechanical organ is instigated to rotate is known as rotating torque, is referred to as turned
Square.Mechanical organ can all generate a degree of torsional deflection under torque, therefore torque is sometimes referred to as torque.Torque is
The basic load form of various work mechanism transmission shafts, ability to work, energy consumption with dynamic power machine, efficiency, running life
And the factors such as security performance are closely connected, the measurement of torque determines and control, transmission system working part transmission axle load
Intensity Design and the selection etc. of prime mover capacity all have great importance.In addition, the relationship T=of torque and power
9549P/n or T=P/ Ω (Ω be angular speed, unit rad/s).The level of torque of Current mechanical arm can be worked as by being set to
The pressure sensor in preceding joint is measured in the torque measuring instrument of mechanical arm installation.Wherein, pressure sensor (Pressure
Transducer) refer to experience pressure signal, and pressure signal can be converted into the electricity of available output according to certain rule
The device or device of signal；Torque measuring instrument measurement refers to directly measure motor, engine and other rotating machinery torques
Mechanical value measuring instrument.The measurement of torque is that torsional stress or torsional angular displacement are generated when bearing torque based on rotary shaft of machine
Principle measures torsional stress or torsional angular displacement so that torque value is obtained with electric detecting technology.
S1012, the electrical signal intensity in the detection joint.
In a particular application, the electrical signal intensity of the mechanical arm can be detected by current sensor, current sensor
It is a kind of detection device, the information of tested electric current can be experienced, and can will detect the information experienced, be transformed into according to certain rules
To meet the electric signal of certain standard needs or the information output of other required forms, to meet the transmission of information, handle, deposit
The requirements such as storage, display, record and control.
S1013, the pressure size in the detection joint.
In a particular application, the pressure size in joint refers to other joints being mechanically connected with current joint or driving motor
Except other objects, be applied to the size of the active force of current joint.The pressure size of current joint can be by being set to
The pressure sensor of current joint detects, and pressure sensor (Pressure Transducer) refers to experience pressure signal, and
Pressure signal can be converted into the device or device of the electric signal of available output according to certain rule.
The present embodiment can effectively detect machinery by detecting the level of torque, electrical signal intensity and pressure size in joint
The current state in the joint of arm.
Embodiment three
As shown in figure 3, the present embodiment is the further refinement to the step S103 in embodiment one.In the present embodiment,
Step S103, further includes：
S1031, the increment for judging the level of torque, the variable of electrical signal intensity and pressure size increment whether be more than
Corresponding torque increment threshold value, signal strength variable threshold and pressure increment threshold value.
In a particular application, the size of torque increment threshold value, signal strength variable threshold and pressure increment threshold value can root
It is configured according to actual needs, torque increment threshold value refers to not occur in the mechanical organ for ensureing mechanical arm the feelings of damage or deformation
Under condition, the size for the peak torque which can bear.Signal strength variable threshold refers in the machine for ensureing mechanical arm
In the case that damage or deformation do not occur for tool element, maximum which can bear or minimum current signal strength it is big
It is small.Pressure increment threshold value refer to ensure mechanical arm mechanical organ do not occur damage or deformation in the case of, the mechanical organ
The size for the maximum pressure that can bear.
In one embodiment, step S1031 includes：
S10311, detect the joint torque increase when, judge the increment of the torque whether within first time
More than torque increment threshold value；
When S10312, the torque increment are more than torque increment threshold value within the first time, the mechanical arm is judged
Motion state mutates.
In a particular application, it can be configured according to actual needs with torque increment threshold value at the first time.
In a particular application, when the torque increment is more than torque increment threshold value within the first time, described in judgement
Manipulator motion state mutates, when not implying that the torque increment is less than torque increment threshold value within first time, institute
Manipulator motion state is stated not mutate；And when referring to that increment is less than torque increment threshold value within first time, mechanical arm
Torque increment size substantive damage will not be caused to mechanical arm.
S10313, when detecting that the electrical signal intensity in the joint increases or reduces, judge the electrical signal intensity size
Variable whether first time in be more than signal strength variable threshold；
When S10314, the variable are more than signal strength variable threshold within the first time, the mechanical arm is judged
Motion state mutates.
In a particular application, signal strength Delta threshold value can be configured according to actual needs.
In a particular application, when the signal strength variable is more than signal strength variable threshold within first time, judgement
The motion state of the mechanical arm mutates, and does not imply that the signal strength variable is less than signal strength within first time
During variable threshold, the motion state of the mechanical arm does not mutate；And refer to that signal strength variable is small within first time
When signal strength variable threshold, the signal strength variable size of mechanical arm will not cause mechanical arm substantive damage.
S10315, when detecting the pressure size increase in the joint, judge the increment of the pressure size whether the
It is more than pressure increment threshold value in one time；
When S10316, the pressure increment are more than pressure increment threshold value within first time, the manipulator motion is judged
State mutates.
In a particular application, pressure increment threshold value can be configured according to actual needs.
In a particular application, when the pressure increment is more than pressure increment threshold value within first time, judge the machinery
Arm motion state mutates, when not implying that the increment is less than pressure increment threshold value within first time, the mechanical arm
Motion state does not mutate；And when referring to that increment is less than pressure increment threshold value within first time, the pressure of current joint
Size will not cause current joint substantive damage.
The present embodiment passes through big in the torque increment size, the strong variable size of electric signal and pressure increment for detecting mechanical arm
Hour, judge the increment of the increment of the level of torque, the variable of electrical signal intensity and pressure size whether more than corresponding turn
Square delta threshold, signal strength variable threshold and pressure increment threshold value, can the motion state of effectively detection mechanical arm whether send out
Raw mutation.
Example IV
As shown in figure 4, the present embodiment is the further refinement to the step S104 in embodiment one.In the present embodiment,
Step S104, including：
S1041, the control mechanical arm are transported along direction that is opposite with the current traffic direction, vertical or forming an angle
It is dynamic；Wherein, the angle cannot be 0 °.
In a particular application, change the original motion state of the mechanical arm, in particular to control machinery arm to transport along with current
Other directions operation except dynamic direction.Other directions except the direction with current kinetic include：With current traffic direction
On the contrary, direction that is vertical or forming an angle；Wherein, the angle cannot be 0 °, that is, ensure manipulator motion direction not with barrier
Hinder object direction identical.For example, it is assumed that manipulator motion direction is travels forward, then can with control machinery arm along in addition to
Any direction movement except forward.
The present embodiment is run by control machinery arm along the direction far from barrier.It avoids and machine directly occurs with barrier
The integrity of mechanical arm is protected in damage caused by tool collision to mechanical arm.
It should be understood that the size of the serial number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without coping with the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.
Embodiment five
As shown in figure 5, the present embodiment provides a kind of flexible obstacle avoidance system 100 of mechanical arm, for performing in embodiment one
Method and step.The flexible obstacle avoidance system 100 of mechanical arm provided in this embodiment, including：
Detection module, for detecting the information in the joint；
First judgment module, for judging whether the manipulator motion state mutates；
Second judgment module, when mutating for the motion state of the mechanical arm, judging the size of the mutation is
No is more than corresponding mutation threshold value；
Control module when being more than corresponding mutation threshold value for the mutation size, according to the mutation size, controls institute
It states mechanical arm and carries out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the mechanical arm original
There is motion state.
In one embodiment, control module 104 further include：
First control unit, for controlling side of the joint of the currently detected mutation of the mechanical arm along separate barrier
To operation；
Second control unit keeps current operating conditions for controlling other that the joint of mutation is not detected.
In one embodiment, the system, further includes：
Accumulation module, for adding up the duration that the mutation size is more than the corresponding mutation threshold value；
Second control module when being more than for the second time for the duration, controls the mechanical arm out of service.
The present embodiment judges whether manipulator motion state mutates by detecting the information in joint, if mechanical arm
Motion state mutates, and it is more than corresponding mutation threshold value to be mutated size, then according to mutation size, control machinery arm carries out intelligence
Energy avoidance it is possible to prevente effectively from directly with barrier mechanical collision occurs for mechanical arm, protects the integrity of mechanical arm, reduces machinery
The failure rate of arm, and then effectively improve the operating efficiency of mechanical arm and reduce the maintenance cost of mechanical arm.
Embodiment six
As shown in fig. 6, in the present embodiment, the detection module 101 in embodiment five includes performing in embodiment two
Method and step structure, the detection module 101, including
First detection unit 1011, for detecting the level of torque in the joint；
Second detection unit 1012, for detecting the electrical signal intensity in the joint；
Third detection unit 1013, for detecting the pressure size in the joint.
The present embodiment can effectively detect machinery by detecting the level of torque, electrical signal intensity and pressure size in joint
The current state in the joint of arm.
Embodiment seven
As shown in fig. 7, in the present embodiment, the second judgment module 103 in embodiment five includes performing embodiment
Method and step in three, second judgment module 103, including：
Judging unit 1031, for judging the variable of the increment of the level of torque, electrical signal intensity and pressure size
Whether increment is more than corresponding torque increment threshold value, signal strength variable threshold and pressure increment threshold value.
First detection sub-unit 10311 during for detecting the torque in joint increase, judges the increment of the torque
Whether it is more than torque increment threshold value within first time；
First judgment sub-unit 10312, for the torque increment within the first time be more than torque increment threshold value
When, judge that the manipulator motion state mutates.
Second detection sub-unit 10313 when the electrical signal intensity for detecting the joint increases or reduces, judges institute
Whether the variable for stating electrical signal intensity size is more than signal strength variable threshold within first time；
Second judgment sub-unit 10314, for the variable within the first time be more than signal strength variable threshold
When, judge that the manipulator motion state mutates.
Third detection sub-unit 10315, for detect the pressure size in the joint increase when, judge that the pressure is big
Whether small increment is more than pressure increment threshold value within first time；
Third judgment sub-unit 10316, for the pressure increment first time in be more than pressure increment threshold value when, sentence
The fixed manipulator motion state mutates.
The present embodiment passes through big in the torque increment size, the strong variable size of electric signal and pressure increment for detecting mechanical arm
Hour, judge to be mutated whether size is more than corresponding mutation threshold value within first time, can effective detection mechanical arm movement
Whether state mutates.
Embodiment eight
As shown in figure 8, in the present embodiment, the control module 104 in embodiment five includes performing in example IV
Method and step structure, the control module 104, including：
Third control unit 1041 controls the mechanical arm along opposite with the current traffic direction, vertical or into certain
The direction movement of angle；Wherein, the angle cannot be 0 °.
The present embodiment is run by control machinery arm along the direction far from barrier.It avoids and machine directly occurs with barrier
The integrity of mechanical arm is protected in damage caused by tool collision to mechanical arm.
Embodiment nine
Fig. 9 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 9, the terminal of the embodiment is set
Standby 9 include：Processor 90, memory 91 and it is stored in the meter that can be run in the memory 91 and on the processor 90
Calculation machine program 92, such as the flexible avoidance program of mechanical arm.The processor 90 is realized when performing the computer program 92
State the step in the flexible barrier-avoiding method embodiment of each mechanical arm, such as step S101 to S104 shown in FIG. 1.Alternatively, institute
The function that each module/unit in above-mentioned each device embodiment is realized when processor 90 performs the computer program 92 is stated, such as
The function of module 101 to 104 shown in Fig. 5.
Illustratively, the computer program 92 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 91, and are performed by the processor 90, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 92 in the terminal device 9 is described.For example, the computer program 92 can be divided
Detection module, the first judgment module, the second judgment module, control module are cut into, each module concrete function is as follows：
Detection module, for detecting the information in the joint；
First judgment module, for judging whether the manipulator motion state mutates；
Second judgment module, when mutating for the motion state of the mechanical arm, judging the size of the mutation is
No is more than corresponding mutation threshold value；
Control module when being more than corresponding mutation threshold value for the mutation size, according to the mutation size, controls institute
It states mechanical arm and carries out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the mechanical arm original
There is motion state.
The terminal device 9 can be that the calculating such as desktop PC, notebook, palm PC and cloud server are set
It is standby.The terminal device may include, but be not limited only to, processor 90, memory 91.It will be understood by those skilled in the art that Fig. 9
The only example of terminal device 9 does not form the restriction to terminal device 9, can include than illustrating more or fewer portions
Part either combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 90 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 91 can be the internal storage unit of the terminal device 9, such as the hard disk of terminal device 9 or interior
It deposits.The memory 91 can also be the External memory equipment of the terminal device 9, such as be equipped on the terminal device 9
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 91 can also both include the storage inside list of the terminal device 9
Member also includes External memory equipment.The memory 91 is used to store needed for the computer program and the terminal device
Other programs and data.The memory 91 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that each unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated
The form that hardware had both may be used in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Above system
The specific work process of middle unit, module can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of division of logic function can have other dividing mode in actual implementation, such as
Multiple units or component may be combined or can be integrated into another system or some features can be ignored or does not perform.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device
Or the INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and be independent product sale or
In use, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-mentioned implementation
All or part of flow in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It can include：Any entity of the computer program code or device, recording medium, USB flash disk, mobile hard disk, magnetic can be carried
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier signal and electricity
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to aforementioned reality
Example is applied the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment modifies or carries out equivalent replacement to which part technical characteristic；And these are changed
Or replace, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (13)
1. the flexible barrier-avoiding method of a kind of mechanical arm, which is characterized in that the mechanical arm includes several joints, the method packet
It includes：
Detect the information in the joint；
Judge whether the manipulator motion state mutates；
When the motion state of the mechanical arm mutates, whether the size for judging the mutation is more than corresponding mutation threshold value；
When the mutation size is more than corresponding mutation threshold value, according to the mutation size, the mechanical arm is controlled to carry out intelligence
Avoidance；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the original motion state of mechanical arm.
2. the flexible barrier-avoiding method of mechanical arm as described in claim 1, which is characterized in that the letter in the detection joint
Breath, including：
Detect the level of torque in the joint；
Detect the electrical signal intensity in the joint；
Detect the pressure size in the joint.
3. the flexible barrier-avoiding method of mechanical arm as claimed in claim 2, which is characterized in that the size for judging the mutation
Whether it is more than that corresponding mutation threshold value is specially：
Whether the increment for judging the increment of the level of torque, the variable of electrical signal intensity and pressure size is more than corresponding torque
Delta threshold, signal strength variable threshold and pressure increment threshold value.
4. the flexible barrier-avoiding method of mechanical arm as claimed in claim 3, which is characterized in that described to judge the mechanical arm fortune work(
Whether state mutates, including：
When detecting the torque increase in the joint, whether the increment for judging the torque is more than torque increment within first time
Threshold value；
When the torque increment is more than torque increment threshold value within the first time, judge that the manipulator motion state occurs
Mutation.
5. the flexible barrier-avoiding method of mechanical arm as claimed in claim 3, which is characterized in that judge the manipulator motion state
Whether mutate, further include：
When detecting that the electrical signal intensity in the joint increases or reduces, judge the electrical signal intensity size variable whether
It is more than signal strength variable threshold at the first time；
When the variable is more than signal strength variable threshold within the first time, judge that the manipulator motion state occurs
Mutation.
6. the flexible barrier-avoiding method of mechanical arm as claimed in claim 3, which is characterized in that judge the manipulator motion state
Whether mutate, further include：
When detecting the pressure size increase in the joint, judge the pressure size increment whether within first time be more than
Pressure increment threshold value；
When the pressure increment is more than pressure increment threshold value within first time, it is prominent to judge that the manipulator motion state occurs
Become.
7. the flexible barrier-avoiding method of mechanical arm as described in claim 1, which is characterized in that the change mechanical arm is original
Motion state, including：
The mechanical arm is controlled to be moved along direction that is opposite with the current traffic direction, vertical or forming an angle；Wherein, institute
It cannot be 0 ° to state angle.
8. the flexible barrier-avoiding method of mechanical arm as described in claim 1, which is characterized in that the method further includes：
The accumulative mutation size is more than the duration of the corresponding mutation threshold value；
When the duration was more than for the second time, control the mechanical arm out of service.
9. a kind of flexible obstacle avoidance system of mechanical arm, which is characterized in that including：
Detection module, for detecting the information in the joint；
First judgment module, for judging whether the manipulator motion state mutates；
Second judgment module when mutating for the motion state of the mechanical arm, judges whether the size of the mutation surpasses
Cross corresponding mutation threshold value；
Control module when being more than corresponding mutation threshold value for the mutation size, according to the mutation size, controls the machine
Tool arm carries out intelligent barrier avoiding；Wherein, the intelligent barrier avoiding includes：It reduces joint stiffness and/or changes the original fortune of mechanical arm
Dynamic state.
10. the flexible obstacle avoidance system of mechanical arm as claimed in claim 9, which is characterized in that the detection module, including：
First detection unit, for detecting the level of torque in the joint；
Second detection unit, for detecting the electrical signal intensity in the joint；
Third detection unit, for detecting the pressure size in the joint.
11. the system of mechanical arm flexibility avoidance as claimed in claim 10, which is characterized in that first judgment module, packet
It includes：
Judging unit, for whether judging the increment of the variable of the increment of the level of torque, electrical signal intensity and pressure size
More than corresponding torque increment threshold value, signal strength variable threshold and pressure increment threshold value.
12. a kind of terminal device, including memory, processor and it is stored in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 8 when performing the computer program
The step of any one the method.
13. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization such as any one of claim 1 to 8 the method.
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