CN111037564A - Robot collision detection method, device, equipment and computer readable storage medium - Google Patents
Robot collision detection method, device, equipment and computer readable storage medium Download PDFInfo
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- CN111037564A CN111037564A CN201911383473.3A CN201911383473A CN111037564A CN 111037564 A CN111037564 A CN 111037564A CN 201911383473 A CN201911383473 A CN 201911383473A CN 111037564 A CN111037564 A CN 111037564A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a robot collision detection method, which comprises the following steps: the method comprises the following steps that a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot; determining whether the robot is collided currently or not based on the acceleration corresponding to the detection parameters; and if the current collision of the robot is determined, controlling the mechanical arm of the robot to stop running. The invention also discloses a robot collision detection device, equipment and a computer readable storage medium. The invention can detect whether the robot collides or not in real time according to the acceleration of the tail end of the robot, and compared with the method for detecting the collision through the current of the motor of the robot, the invention has the advantages that the acceleration still changes greatly when the robot collides slightly, the slight collision of the robot can be accurately detected, and the sensitivity and the accuracy of the collision detection can be further improved.
Description
Technical Field
The present invention relates to the field of robot technologies, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for detecting robot collision.
Background
With the rapid development of the prior art, the robot starts to enter the lives of people, the use field of the robot is wide, and taking the service industry as an example, the robot can be used for catering, maintenance, repair, transportation, cleaning, rescue or monitoring and the like, can complete the service work beneficial to the health of human beings, and brings great convenience to the lives of people.
Robots, particularly collaborative robots, work with humans in many scenarios. During the movement, there is a risk of collision with a person or equipment. Once collision happens, if the machine is not controlled to stop in time, equipment is easily damaged or people are easily injured.
In the existing solution, collision is generally detected through current of a robot motor, however, the collision can be successfully detected only when a collision with a large force is generated, and the collision cannot be detected when the robot slightly collides, so that the sensitivity of collision detection is low.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a robot collision detection method, a device, equipment and a computer readable storage medium, aiming at solving the technical problem of low sensitivity of the existing robot collision detection.
In order to achieve the above object, the present invention provides a robot collision detection method, including the steps of:
the method comprises the following steps that a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot;
determining whether the robot is collided currently or not based on the acceleration corresponding to the detection parameters;
and if the current collision of the robot is determined, controlling the mechanical arm of the robot to stop running.
Further, in an embodiment, the step of determining whether the robot is currently collided based on the acceleration corresponding to the detection parameter includes:
acquiring a difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
and determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, it is determined that the robot is collided currently.
Further, in an embodiment, the acceleration sensor includes a six-axis acceleration sensor, and the step of obtaining the difference between the acceleration of the robot at the current time and the acceleration at the previous time based on the detection parameter includes:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the target acceleration parameter.
Further, in an embodiment, the step of determining whether the robot is currently collided based on the acceleration corresponding to the detection parameter includes:
sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and when the stop instruction is received, determining that the robot is collided currently.
Further, in an embodiment, the acceleration sensor includes a six-axis acceleration sensor, and the step of sending the detection parameter to the controller includes:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and sending the target acceleration parameter to the controller so that the controller can determine whether the robot is collided currently based on the target acceleration parameter.
Further, in one embodiment, the processor is communicatively coupled to the controller via an EtherCAT bus.
Further, in one embodiment, the processor is communicatively coupled to the acceleration sensor via an IIC interface.
Further, to achieve the above object, the present invention also provides a robot collision detecting device including:
the acquisition module is used for acquiring detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of the robot mechanical arm;
the determining module is used for determining whether the robot collides currently or not based on the acceleration corresponding to the detection parameter;
and the control module is used for controlling the mechanical arm of the robot to stop running if the robot is determined to be collided currently.
Further, to achieve the above object, the present invention also provides a robot collision detecting apparatus including: the collision detection system comprises a memory, a processor and a robot collision detection program stored on the memory and capable of running on the processor, wherein the robot collision detection program realizes the steps of the robot collision detection method when being executed by the processor.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a robot collision detection program which, when executed by a processor, implements the steps of the robot collision detection method described above.
According to the invention, the detection parameters of an acceleration sensor are obtained through a processor of the robot, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot, and then whether the robot collides currently is determined based on the acceleration corresponding to the detection parameters; and then if the robot is determined to be collided currently, controlling the mechanical arm of the robot to stop running, detecting whether the robot is collided or not in real time according to the acceleration at the tail end of the robot, and comparing with the current detection of the robot motor, the acceleration of the robot is still changed greatly when the robot is slightly collided, so that the slight collision of the robot can be accurately detected, and the sensitivity and the accuracy of collision detection can be further improved.
Drawings
FIG. 1 is a schematic diagram of a robot collision detection device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a robot collision detection method according to a first embodiment of the present invention;
fig. 3 is a functional block diagram of an embodiment of the robot collision detection apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a robot collision detection device in a hardware operating environment according to an embodiment of the present invention.
The robot collision detection equipment provided by the embodiment of the invention can be a robot, a PC, an intelligent mobile phone, a tablet personal computer and the like. As shown in fig. 1, the robot collision detecting apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the robot collision detection device may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of ambient light; of course, other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor may also be configured in the robot collision detection device, and are not described herein again.
Those skilled in the art will appreciate that the configuration of the robotic collision detecting device shown in fig. 1 does not constitute a limitation of the robotic collision detecting device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot collision detection program.
In the robot collision detection device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke a robot collision detection program stored in the memory 1005.
In the present embodiment, the robot collision detecting apparatus includes: a memory 1005, a processor 1001, and a robot collision detection program stored on the memory 1005 and executable on the processor 1001, wherein the processor 1001, when calling the robot collision detection program stored in the memory 1005, performs the following operations:
the method comprises the following steps that a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot;
determining whether the robot is collided currently or not based on the acceleration corresponding to the detection parameters;
and if the current collision of the robot is determined, controlling the mechanical arm of the robot to stop running.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
acquiring a difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
and determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, it is determined that the robot is collided currently.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the target acceleration parameter.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and when the stop instruction is received, determining that the robot is collided currently.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and sending the target acceleration parameter to the controller so that the controller can determine whether the robot is collided currently based on the target acceleration parameter.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
the processor is in communication connection with the controller through an EtherCAT bus.
Further, the processor 1001 may call the robot collision detection program stored in the memory 1005, and also perform the following operations:
the processor is in communication connection with the acceleration sensor through an IIC interface.
The invention also provides a robot collision detection method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the robot collision detection method of the invention.
In this embodiment, the robot collision detection method includes:
step S100, a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot;
in this embodiment, an acceleration sensor is arranged at the end of the robot arm, the acceleration sensor can be arranged on an end plate at the end, and meanwhile, a processor MCU can be arranged on the end plate, the processor and the acceleration sensor are in communication connection through an IIC interface, specifically, the processor and the acceleration sensor are both provided with IIC interfaces, and the two IIC interfaces are in communication connection through an IIC bus.
In this embodiment, when the robot is in a motion state, for example, when a mechanical arm of the robot is controlled to move, the processor acquires the current detection parameter of the acceleration sensor in real time.
Step S200, determining whether the robot is collided at present or not based on the corresponding acceleration of the detection parameters;
in this embodiment, when the detection parameter of the acceleration sensor is obtained, whether the robot is currently collided is determined based on the detection parameter, specifically, the acceleration corresponding to the current detection parameter is compared with the acceleration corresponding to the detection parameter obtained at the previous time, and whether the robot is collided is determined.
And step S300, if the robot is determined to be collided currently, controlling the mechanical arm of the robot to stop running.
In this embodiment, if the money in the robot room collides, the robot arm is controlled to stop operating, and then the robot is controlled to stop operating in time after the collision occurs.
Compared with the current detection collision of a robot motor, the acceleration of the robot still changes greatly when the robot collides slightly, the slight collision of the robot can be accurately detected, and the sensitivity and the accuracy of collision detection can be improved.
Compared with the prior art, the robot collision detection method based on the joint force sensor has the advantages that only one acceleration sensor needs to be arranged at the tail end of the mechanical arm, and one force sensor does not need to be additionally arranged at each joint of the mechanical arm, so that the cost of the robot and the assembly requirement of the robot are greatly reduced.
In the robot collision detection method provided by this embodiment, a processor of the robot is used to obtain detection parameters of an acceleration sensor, where the acceleration sensor is disposed at a terminal of a mechanical arm of the robot, and then based on an acceleration corresponding to the detection parameters, it is determined whether the robot is currently collided; and then if the robot is determined to be collided currently, controlling the mechanical arm of the robot to stop running, detecting whether the robot is collided or not in real time according to the acceleration at the tail end of the robot, and comparing with the current detection of the robot motor, the acceleration of the robot is still changed greatly when the robot is slightly collided, so that the slight collision of the robot can be accurately detected, and the sensitivity and the accuracy of collision detection can be further improved.
A second embodiment of the robot collision detection method of the present invention is proposed based on the first embodiment, in which step S200 includes:
step S210, acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
step S220, determining whether the difference value is larger than a preset threshold value, wherein if the difference value is larger than the preset threshold value, determining that the robot is collided currently.
In this embodiment, when the detection parameter of the acceleration sensor is acquired, the acceleration of the robot at the current moment in the detection parameter is acquired, and the acceleration of the robot at the previous moment is acquired, for example, the acceleration of the robot at the previous moment is acquired from the detection parameter acquired at the previous moment, and the difference between the acceleration of the robot at the current moment and the acceleration at the previous moment is calculated.
And then, judging whether the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment is larger than a preset threshold value or not, if the difference value is larger than the preset threshold value, determining that the robot is currently collided, and if the difference value is smaller than or equal to the preset threshold value, determining that the robot is not currently collided.
Wherein, the preset threshold value can be reasonably set according to the acceleration change of the robot when the robot is slightly collided.
In the robot collision detection method provided by this embodiment, a difference between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment is obtained based on the detection parameter; and then determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, determining that the robot is collided currently, and detecting whether the robot is collided according to the change of the acceleration of the tail end of the robot, so that the accuracy of robot collision detection is improved, and the sensitivity and the accuracy of collision detection are further improved.
A third embodiment of the robot collision detecting method of the present invention is proposed based on the second embodiment, in which the acceleration sensor includes a six-axis acceleration sensor, and step S210 includes:
step S211, obtaining an acceleration parameter and a speed parameter corresponding to the detection parameter;
step S212, performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
step S213, obtaining a difference between the acceleration of the robot at the current moment and the acceleration at the previous moment based on the target acceleration parameter.
In this embodiment, the detection parameters obtained by the six-axis acceleration sensor include a terminal acceleration parameter and a terminal speed parameter, and when the detection parameters of the acceleration sensor are obtained, the acceleration parameter and the terminal speed parameter in the detection parameters are obtained, and complementary filtering operation is performed on the acceleration parameter and the speed parameter to obtain a target acceleration parameter, specifically, complementary filtering operation is performed on the acceleration parameter and the speed parameter by using an existing complementary filtering algorithm.
And then, acquiring the acceleration of the robot at the current moment based on the target acceleration parameter, and calculating the difference between the acceleration at the current moment and the acceleration at the previous moment.
In the robot collision detection method provided by the embodiment, an acceleration parameter and a speed parameter corresponding to the detection parameter are obtained; then, complementary filtering operation is carried out on the acceleration parameter and the speed parameter to obtain a target acceleration parameter; and then acquiring the difference value between the acceleration of the robot at the current moment and the acceleration at the previous moment based on the target acceleration parameter, and performing complementary filtering on the acceleration parameter and the speed parameter to improve the accuracy of the target acceleration parameter, so as to improve the accuracy of detecting whether the robot collides according to the change of the acceleration, and further improve the sensitivity and the accuracy of collision detection.
A fourth embodiment of the robot collision detecting method of the present invention is proposed based on the first embodiment, and in this embodiment, step S200 includes:
step S230, sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and step S240, when the stop instruction is received, determining that the robot is collided currently.
In this embodiment, the processor and the controller are in communication connection through an EtherCAT bus, and the processor can send the detection parameter to the controller, so that the controller processes the detection parameter, and reduces the data amount processed by the processor, when receiving the detection parameter sent by the processor, the controller determines whether the robot is currently collided based on the acceleration corresponding to the detection parameter, and feeds back a stop instruction when determining that the robot is currently collided, and when receiving the stop instruction, the processor determines that the robot is currently collided.
Further, in an embodiment, the acceleration sensor includes a six-axis acceleration sensor, and the step S230 includes:
step S231, acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
step S232, carrying out complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
step S233, sending the target acceleration parameter to the controller, so that the controller can determine whether the robot is currently collided based on the target acceleration parameter.
In this embodiment, the detection parameters obtained by the six-axis acceleration sensor include a terminal acceleration parameter and a terminal speed parameter, and when the detection parameters of the acceleration sensor are obtained, the acceleration parameter and the terminal speed parameter in the detection parameters are obtained, and complementary filtering operation is performed on the acceleration parameter and the speed parameter to obtain a target acceleration parameter, specifically, complementary filtering operation is performed on the acceleration parameter and the speed parameter by using an existing complementary filtering algorithm.
When the target acceleration parameter is obtained, the target acceleration parameter is sent to the controller, so that the controller can determine whether the robot is collided currently or not based on the target acceleration parameter, specifically, when the target acceleration parameter is received, the controller obtains the acceleration of the robot at the current moment based on the target acceleration parameter, calculates the difference between the acceleration at the current moment and the acceleration at the previous moment, judges whether the difference between the acceleration of the robot at the current moment and the acceleration at the previous moment is larger than a preset threshold value or not, determines that the robot is collided currently if the difference is larger than the preset threshold value, and determines that the robot is not collided currently if the difference is smaller than or equal to the preset threshold value.
Further, in another embodiment, the acceleration sensor includes a six-axis acceleration sensor, and the step S230 includes: sending the detection parameters to a controller, wherein the controller acquires acceleration parameters and speed parameters corresponding to the detection parameters; performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter; the controller obtains the acceleration of the robot at the current moment based on the target acceleration parameter, calculates the difference between the acceleration at the current moment and the acceleration at the previous moment, and judges whether the difference between the acceleration of the robot at the current moment and the acceleration at the previous moment is larger than a preset threshold value or not, if the difference is larger than the preset threshold value, the robot is determined to be collided currently, and if the difference is smaller than or equal to the preset threshold value, the robot is determined not to be collided currently.
According to the robot collision detection method provided by the embodiment, the detection parameters are sent to the controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, when the robot is determined to be collided currently, a stop instruction is fed back, then when the stop instruction is received, the robot is determined to be collided currently, whether the robot is collided can be detected in real time according to the acceleration at the tail end of the robot, meanwhile, the detection parameters are processed by the controller, the data volume processed by the processor is reduced, and the data processing efficiency of the processor is improved.
An embodiment of the present invention further provides a robot collision detection apparatus, and referring to fig. 3, the robot collision detection apparatus includes:
an obtaining module 100, configured to obtain a detection parameter of an acceleration sensor, where the acceleration sensor is disposed at a terminal of the robot arm;
a determining module 200, configured to determine whether the robot currently collides based on the acceleration corresponding to the detection parameter;
and the control module 300 is configured to control the mechanical arm of the robot to stop operating if it is determined that the robot is currently collided.
Further, in an embodiment, the determining module 200 is further configured to:
acquiring a difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
and determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, it is determined that the robot is collided currently.
Further, in an embodiment, the acceleration sensor includes a six-axis acceleration sensor, and the determining module 200 is further configured to:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the target acceleration parameter.
Further, in an embodiment, the determining module 200 is further configured to:
sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and when the stop instruction is received, determining that the robot is collided currently.
Further, in an embodiment, the determining module 200 is further configured to:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and sending the target acceleration parameter to the controller so that the controller can determine whether the robot is collided currently based on the target acceleration parameter.
Further, the processor is connected with the controller in a communication mode through an EtherCAT bus.
Further, the processor is in communication connection with the acceleration sensor through an IIC interface.
The method executed by each program module can refer to each embodiment of the robot collision detection method of the present invention, and is not described herein again.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a robot collision detection program is stored on the computer-readable storage medium, and when executed by a processor, the robot collision detection program implements the following operations:
the method comprises the following steps that a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot;
determining whether the robot is collided currently or not based on the acceleration corresponding to the detection parameters;
and if the current collision of the robot is determined, controlling the mechanical arm of the robot to stop running.
Further, the robot collision detection program when executed by the processor further performs the following operations: acquiring a difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
and determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, it is determined that the robot is collided currently.
Further, the robot collision detection program when executed by the processor further performs the following operations: acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the target acceleration parameter.
Further, the robot collision detection program when executed by the processor further performs the following operations: sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and when the stop instruction is received, determining that the robot is collided currently.
Further, the robot collision detection program when executed by the processor further performs the following operations: acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and sending the target acceleration parameter to the controller so that the controller can determine whether the robot is collided currently based on the target acceleration parameter.
Further, the robot collision detection program when executed by the processor further performs the following operations:
the processor is in communication connection with the controller through an EtherCAT bus.
Further, the robot collision detection program when executed by the processor further performs the following operations:
the processor is in communication connection with the acceleration sensor through an IIC interface.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot collision detection method, characterized by comprising the steps of:
the method comprises the following steps that a processor of the robot acquires detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of a mechanical arm of the robot;
determining whether the robot is collided currently or not based on the acceleration corresponding to the detection parameters;
and if the current collision of the robot is determined, controlling the mechanical arm of the robot to stop running.
2. The robot collision detection method according to claim 1, wherein the step of determining whether the robot is currently collided based on the acceleration corresponding to the detection parameter includes:
acquiring a difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the detection parameters;
and determining whether the difference is greater than a preset threshold value, wherein if the difference is greater than the preset threshold value, it is determined that the robot is collided currently.
3. The robot collision detecting method according to claim 2, wherein the acceleration sensor includes a six-axis acceleration sensor, and the step of acquiring the difference between the acceleration of the robot at the current time and the acceleration at the previous time based on the detection parameter includes:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and acquiring the difference value between the acceleration of the robot at the current moment and the acceleration of the robot at the previous moment based on the target acceleration parameter.
4. The robot collision detection method according to claim 1, wherein the step of determining whether the robot is currently collided based on the acceleration corresponding to the detection parameter includes:
sending the detection parameters to a controller, so that the controller can determine whether the robot is collided currently based on the acceleration corresponding to the detection parameters, and feeding back a stop instruction when determining that the robot is collided currently;
and when the stop instruction is received, determining that the robot is collided currently.
5. The robot collision detecting method according to claim 4, wherein the acceleration sensor includes a six-axis acceleration sensor, and the step of transmitting the detection parameter to the controller includes:
acquiring an acceleration parameter and a speed parameter corresponding to the detection parameter;
performing complementary filtering operation on the acceleration parameter and the speed parameter to obtain a target acceleration parameter;
and sending the target acceleration parameter to the controller so that the controller can determine whether the robot is collided currently based on the target acceleration parameter.
6. The robot collision detection method of claim 4, in which the processor is communicatively connected to the controller via an EtherCAT bus.
7. A robot collision detection method according to any of claims 1 to 6, characterized in that the processor is communicatively connected with the acceleration sensor via an IIC interface.
8. A robot collision detection apparatus, characterized by comprising:
the acquisition module is used for acquiring detection parameters of an acceleration sensor, wherein the acceleration sensor is arranged at the tail end of the robot mechanical arm;
the determining module is used for determining whether the robot collides currently or not based on the acceleration corresponding to the detection parameter;
and the control module is used for controlling the mechanical arm of the robot to stop running if the robot is determined to be collided currently.
9. A robot collision detection apparatus characterized by comprising: memory, a processor and a robot collision detection program stored on the memory and executable on the processor, the robot collision detection program, when executed by the processor, implementing the steps of the robot collision detection method according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a robot collision detection program which, when executed by a processor, implements the steps of the robot collision detection method according to any one of claims 1 to 7.
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