CN111897323A - Robot emergency stop control method and device based on proximity perception and storage medium - Google Patents
Robot emergency stop control method and device based on proximity perception and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a robot sudden stop control method based on proximity perception, which comprises the following steps: receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data; when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal; and outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement. The robot sudden stop control method based on the proximity perception can predict the speed of the robot when the robot collides with the grounding conductor according to the electronic skin of the proximity perception, obtain the collision force generated when the robot collides by combining the quality information of the robot and the grounding conductor, and finally realize collision buffering and stopping according to the collision force and the set impedance control model. In addition, the invention also provides a robot sudden stop control device based on the proximity perception and a storage medium.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot sudden stop control method and device based on proximity perception and a storage medium.
Background
The robot is a product of integrated control theory, mechano-electronics, computer, material and bionics, can accept human command, can run a pre-arranged computer program, and can assist or replace human work according to a principle outline action formulated by artificial intelligence technology.
In actual use, a person and a robot may be required to work together to complete a certain task. When the robot and the robot work cooperatively, the robot needs to be ensured to have enough safety so as to avoid collision between the robot and the human body and further threaten the life safety of the human body.
For this reason, existing robots employ contact collision detection based on current loops to trigger the robot to stop. However, the conventional collision detection method triggers the robot to stop by means of current change caused after the robot contacts with the robot, and when the robot triggers the robot to stop, the robot and the human collide with each other, and in some scenes, the collision damages the human body.
Disclosure of Invention
The invention mainly aims to provide a robot sudden stop control method based on proximity perception so as to solve the safety problem of the existing robot.
In order to achieve the above object, the present invention provides a robot emergency stop control method based on proximity perception, including:
receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data; when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal; and outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.
Preferably, the step of outputting a control signal according to the trigger signal to control the robot to perform a deceleration motion includes: in the process of decelerating movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor to obtain the estimated collision speed when the robot collides with the grounding conductor; acquiring robot quality information and grounding conductor quality information, and calculating the estimated collision speed, the robot quality information and the grounding conductor quality information to acquire transient collision force when the robot collides with the grounding conductor; and acquiring transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.
Preferably, the calculating the estimated collision speed, preset robot quality information and quality information of the ground conductor to obtain the transient collision force when the robot collides with the ground conductor includes: calculating the quality information of the robot and the quality information of the grounding conductor to obtain the reduced mass of the robot and the grounding conductor; and calculating the reduced mass and the estimated collision speed to obtain the transient collision force when collision occurs.
Preferably, the reduced mass is calculated according to the following formula:
Preferably, the step of controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor comprises: establishing an impedance model of the grounding conductor according to the following formula, and controlling the robot to move according to the impedance model: f ═ K × X + B × X' + M × X "; wherein F is the transient impact force; x, X' are the target position, movement speed and deceleration of the robot movement planned by the impedance model respectively; k, B and M are respectively a rigidity matrix, a damping matrix and a mass matrix of the grounding conductor; the deceleration value is obtained by calculating according to the following formula: x ═ F-K X + B X')/M.
The present invention also provides a robot emergency stop control device based on the proximity perception, which includes: the receiving module is used for receiving data sent by the electronic skin of the proximity sense and calculating the distance between the robot and the grounding conductor according to the data; the trigger output module is used for generating a corresponding trigger signal when the distance between the robot and the grounding conductor reaches a preset threshold value; and the control module is used for outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.
Preferably, the control module comprises: the speed calculation unit is used for calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor in the process of deceleration movement of the robot so as to obtain the estimated collision speed when the robot collides with the grounding conductor; the collision force calculation unit is used for acquiring robot quality information and grounding conductor quality information, and calculating the robot quality information and the grounding conductor quality information of the estimated collision speed so as to acquire transient collision force when the robot collides with the grounding conductor; and the control unit is used for acquiring the transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.
Preferably, the collision force operation unit includes: the first operation subunit is used for calculating the quality information of the robot and the quality information of the grounding conductor so as to obtain the reduced quality of the robot and the grounding conductor; and the second computing subunit is used for computing the reduced mass and the estimated collision speed so as to obtain the transient collision force during collision.
Preferably, the first operation subunit calculates the reduced mass according to the following formula:
wherein: mu is reduced mass; m isHIs the effective mass of the grounded conductor; m isRIs the effective mass of the robot; the second computing subunit calculates the transient impact force according to the following formula:
wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:
wherein v isrefIs the initial movement speed of the robot.
The present invention also provides a storage medium, which stores a computer program, and when the computer program is executed by a processor, the robot emergency stop control method based on the proximity perception described in the foregoing embodiments is implemented.
According to the invention, the data of the proximity electronic skin real-time detection is received and monitored, and when the distance between the robot and the grounding conductor reaches a preset threshold value, a trigger signal is output to output a control signal, so that the robot performs deceleration movement according to the control signal, and rapid stop is realized. The emergency stop control before collision can be realized, the damage of the robot to the grounding conductor caused by collision is avoided, and the safety of the cooperative robot is also improved.
Drawings
FIG. 1 is a flowchart of a robot scram control method based on the proximity perception according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of the operation of the proximity electronic skin according to the present invention;
FIG. 3 is a flowchart of a robot scram control method based on the proximity perception according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a robot scram control method based on the proximity perception of the invention according to a third embodiment;
fig. 5 is a functional block diagram of the robot sudden stop control device based on the proximity perception of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a robot sudden stop control method based on proximity perception, and in one embodiment, referring to fig. 1, the robot sudden stop control method comprises the following steps:
step S10, receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data;
in this embodiment, the robot is exemplified by an industrial robot, and the grounding conductor is exemplified by a human body, so as to explain the robot sudden stop control method based on the proximity perception proposed by the present invention. It should be noted that the robot is exemplified by an industrial robot, and the grounding conductor is exemplified by a human body, which is merely illustrative and not restrictive.
The proximity sensing electronic skin according to the present embodiment employs a self-capacitance distance detection principle to measure the distance between the ground conductor and the proximity sensing electronic skin. The working principle of the proximity electronic skin is explained in detail below (see fig. 2 in particular):
the proximity electronic skin includes an array of distributed sensing elements that change the capacitance value at Cx due to the effect of capacitance when a body part of a person or other grounded conductive object is brought into proximity with the sensor. More specifically, it can be known from the capacitance calculation formula C — S/4 pi kd that the distance d between the grounded conductor (human hand) and the detection electrode can be calculated on the premise that the capacitance value C, the dielectric constant, the facing area S of the two capacitor plates, and the electrostatic force constant k are known.
Step S20, when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal;
and step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.
The distance between the human body and the robot is detected in real time through the electronic skin with the proximity sense, when the distance between the human body and the robot reaches a preset distance value, the fact that the human body enters a motion area of the robot is indicated, the robot needs to be controlled to decelerate or suddenly stop, and therefore the robot is prevented from colliding with the human body, and the human body is prevented from being injured. Therefore, when the robot detects that the distance between the robot and the human body reaches a preset value, a trigger signal is generated and sent to a controller of the robot, so that the controller can control the robot to take deceleration or sudden stop measures according to the trigger signal.
In an embodiment, referring to fig. 3, the step of outputting a control signal according to the trigger signal to control the robot to perform the deceleration motion includes:
step S31, in the process of robot deceleration movement, the initial movement speed of the robot and the distance between the robot and the grounding conductor are calculated to obtain the estimated collision speed when the robot and the grounding conductor collide;
step S32, acquiring robot quality information and grounding conductor quality information, and calculating the estimated collision speed, the robot quality information and the grounding conductor quality information to acquire transient collision force when the robot collides with the grounding conductor;
step S33 is to obtain the transient allowable force when the grounding conductor is in transient contact with the robot, and to control the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.
Formula Vt 2-V0 22as, wherein VtIs the final velocity of the robot, i.e. the velocity at which the robot collides with the body, V0The initial speed of the robot is a, the deceleration of the robot is a, the distance between the robot and the human body is s, and the distance a is subjected to secondary integration to obtain s. Therefore, when the initial movement speed of the robot and the distance between the robot and the human body are known, the formula V is usedt 2-V0 2And 2as, calculating to obtain the estimated collision speed when the robot collides with the human body.
It should be noted that the robot mass information and the grounding conductor mass information are preset in the database of the robot, and when the calculation program of the transient collision force needs to be executed, the processor of the robot retrieves the information from the database, so that the processor calculates the transient collision force when the robot collides with the grounding conductor.
After the estimated collision speed when the robot and the human body collide is obtained, calculation is carried out according to the estimated collision speed, preset robot quality information and human body quality information so as to obtain the transient collision force when the robot and the human body collide. It can be understood that, according to the principle of energy conservation, the energy generated when the robot collides with the human body is all converted into the transient collision force of the robot on the human body, where the transient collision force is the force applied to the human body by the robot at the moment of collision between the robot and the human body.
After the transient collision force generated when the robot collides with the human body is obtained, the maximum transient allowable force which can be borne by the human body is combined to control the robot to decelerate or suddenly stop. Specifically, if the transient collision force generated when the robot collides with the human body is far greater than the transient allowable force which can be borne by the human body, the robot is controlled to suddenly stop, and the robot is prevented from damaging the human body. If the transient collision force generated when the robot collides with the human body is less than or equal to the transient allowable force which can be borne by the human body, the robot is controlled to decelerate.
The transient allowable force referred to here, that is, the maximum impact force that can be borne by each part of the human body, may cause serious injury to the human body if the impact force is greater than the set transient allowable force. The transient allowable force which can be born by each part of the human body is pre-stored in the robot, so that different transient allowable force data are called to calculate according to actual conditions.
It should be noted that, for the human body, the maximum transient state allowable force of each part of the human body is different, and the maximum transient state allowable force of each part of the human body can be seen in the following table:
in another embodiment, referring to fig. 4, the calculating the estimated collision speed and the preset robot quality information and the quality information of the grounding conductor to obtain the transient collision force when the robot collides with the grounding conductor comprises:
step S321, calculating preset quality information of the robot and the quality information of the grounding conductor to obtain the reduced quality of the robot and the grounding conductor;
step S322, calculating the folding mass and the estimated collision velocity to obtain the transient collision force during collision.
In newtonian mechanics, the reduced mass, also called reduced mass, is the "effective" inertial mass that arises from the two-body problem, which is a physical quantity that scales as mass, enabling the two-body problem to be transformed into a one-body problem. In this embodiment, the reduced mass is an integrated problem of converting a two-body problem based on the effective mass of the robot and the effective mass of the human body into the reduced mass.
It should be noted that, for human body, the effective mass of different parts of human body may be different, specifically refer to the following table:
| body region | Effective elastic coefficient k (N/mm) | Effective mass mH(kg) |
| Craniocerebral and forehead | 150 | 4.4 |
| Face part | 75 | 4.4 |
| Neck part | 50 | 1.2 |
| Back and shoulder | 35 | 40 |
| Chest part | 25 | 40 |
| |
10 | 40 |
| Pelvic part | 25 | 40 |
| Upper arm and elbow joint | 30 | 3 |
| Forearm and wrist joint | 40 | 2 |
| Hand and finger | 75 | 0.6 |
In this embodiment, the reduced mass is calculated according to the following formula:
wherein: mu is reduced mass; m isHIs the effective mass of the grounded conductor; m isRIs the effective mass of the robot.
It should be noted that the effective mass does not represent a true mass, but represents a proportionality coefficient between an external force and an acceleration when an electron in a band is subjected to an external force (in a quasi-classical approximation, a crystal electron has an acceleration a due to an external force F, so m ═ F ×/a defined by newton's second law is referred to as an inertial mass). The definition can be: the negative effective mass indicates that the lattice does negative work on the electrons, i.e., the electrons supply energy to the lattice, and the energy supplied by the electrons to the lattice is greater than the work done by the external field on the electrons. The effective mass summarizes the effect of the potential field inside the semiconductor, so that the effect of the internal potential field can be avoided when the motion rule of electrons in the semiconductor under the action of external force is solved. The concept is as follows: the acceleration of the electrons in the crystal is related to the applied force and includes the effect of the internal forces in the crystal. The formula represents: since Ft is MV '-MV 0 and it is generally considered that the instant V' after the action is close to zero, the above equation can be simplified to Ft is MV0 (negative sign indicates F, V0 is inverted).
In this embodiment, the effective mass of the robot is calculated according to the following formula:
mR＝M/2+mL
wherein m isLA payload comprising a tool and a workpiece for a robotic system; m isRIs the effective mass of the robot, and M is the total mass of the moving parts of the robot.
After the reduced mass is obtained through calculation, the energy transmitted when the robot collides with the human body is calculated according to the following formula:
wherein v isrefIs the initial movement speed of the robot.
Finally, the transient impact force is calculated according to the following formula:
wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, and E is the energy transferred when the robot collides with the grounding conductor.
It will be appreciated that, given the estimated crash velocity, according to the formula:
the energy E can be calculated. The effective mass of the human body related to the reduced mass can be obtained by inquiring in the table 1, and the effective mass of the robot related to the reduced mass is obtained according to the existing robot mass information and according to the formula: m isR＝M/2+mLTherefore, on the premise of knowing the estimated collision speed, the energy E can be calculated by combining the reduced mass.
On the premise of obtaining the energy E through calculation, the effective elastic coefficient of the corresponding human body part in the table 1 is inquired, and according to a formula:
the transient collision force generated when the robot collides with the human body can be calculated.
After the transient collision force generated when the robot collides with the human body is calculated, the calculated transient collision force is compared with the maximum transient allowable force which can be borne by the human body part to determine whether the transient collision force generated by the pre-collision is greater than the maximum transient allowable force which can be borne by the human body part. The maximum transient allowable force of the human body can be queried through table 2, for example, the maximum transient allowable force of the neck is 150 × 2-300N, the maximum transient allowable force of the back and the shoulders is 210 × 2-420N, the maximum transient allowable force of the chest is 140 × 2-280N, and the maximum transient allowable force of the abdomen is 110 × 2-220N.
In yet another embodiment, the step of controlling the robot to slow down or scram based on the transient impact force and the transient allowable force of the grounded conductive object comprises:
establishing an impedance model of the grounding conductor according to the following formula, and controlling the robot to move according to the impedance model:
F＝K*X+B*X’+M*X”；
wherein F is the collision force;
x, X' are respectively a preset position, a preset speed and a preset deceleration of the robot;
k, B and M are respectively a rigidity parameter, a damping parameter and a mass matrix parameter of the barrier;
the deceleration is calculated according to the following formula:
X”＝(F-K*X+B*X’)/M；
and performing integral operation on the deceleration to obtain the preset position of the robot.
It should be noted that the preset speed is obtained by integrating the preset deceleration, the preset position is obtained by integrating the preset speed, and the three variables are correlated with each other.
Based on the aforementioned proposed robot sudden stop control method based on proximity perception, the present invention further proposes a robot sudden stop control device based on proximity perception, and referring to fig. 5, the robot sudden stop control device comprises:
the receiving module 10 is used for receiving data sent by the electronic skin of the proximity sense and calculating the distance between the robot and the grounding conductor according to the data;
the trigger output module 20 is used for generating a corresponding trigger signal when the distance between the robot and the grounding conductor reaches a preset threshold value;
and the control module 30 is used for outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.
In one embodiment, the control module 30 of the present invention comprises:
the speed calculation unit 31 is used for calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor in the process of deceleration movement of the robot so as to obtain the estimated collision speed when the robot collides with the grounding conductor;
collision force calculation means 32 for acquiring robot mass information and ground conductor mass information, and calculating estimated collision velocity, robot mass information, and ground conductor mass information to acquire a transient collision force when the robot collides with the ground conductor;
and the control unit 33 is used for acquiring the transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.
In another embodiment, the collision force operation unit 32 according to the present invention includes:
a first operation subunit 321, configured to perform operation on preset robot quality information and quality information of a grounded conductor, so as to obtain a reduced mass of the robot and the grounded conductor;
the second computing subunit 322 is used for computing the folding mass and the estimated collision speed to obtain the transient collision force during the collision.
In another embodiment, the first operation subunit 321 calculates the reduced mass according to the following formula:
wherein: mu is reduced mass;
mHis the effective mass of the grounded conductor;
mRis the effective mass of the robot;
the second computing subunit 322 calculates the transient impact force according to the following formula:
wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:
wherein v isrefIs the initial movement speed of the robot.
In a further embodiment, the control module 30 further comprises an impedance model establishing unit 34 for establishing an impedance model of the ground conductor according to the following formula, and controlling the robot to move according to the impedance model:
F＝K*X+B*X’+M*X”；
wherein F is the transient impact force;
x, X' are the target position, movement speed and deceleration of the robot movement planned by the impedance model respectively;
k, B and M are respectively a rigidity matrix, a damping matrix and a mass matrix of the grounding conductor;
the deceleration value is obtained by calculating according to the following formula:
X”＝(F-K*X+B*X’)/M。
based on the proposed robot sudden stop control method based on the proximity perception, the invention further provides a robot sudden stop control system based on the proximity perception, and the robot sudden stop control system comprises:
a memory for storing a computer program;
a processor, configured to implement the steps of the robot sudden stop control method based on the proximity perception in the foregoing embodiments when processing the computer program, where the robot sudden stop control method at least includes the following steps:
step S10, receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data;
step S20, when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal;
and step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.
Based on the proposed robot emergency stop control method based on proximity perception, the present invention further proposes a storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the steps of the robot emergency stop control method based on proximity perception in the above embodiments, where the robot emergency stop control method at least includes the following steps:
step S10, receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data;
step S20, when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal;
and step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. 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 and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot sudden stop control method based on proximity perception is characterized by comprising the following steps:
receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data;
when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal;
and outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.
2. The robot emergency stop control method according to claim 1, wherein the step of outputting a control signal according to the trigger signal to control the robot to perform a deceleration motion comprises:
in the process of decelerating movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor to obtain the estimated collision speed when the robot collides with the grounding conductor;
acquiring robot quality information and grounding conductor quality information, and calculating the estimated collision speed, the robot quality information and the grounding conductor quality information to acquire transient collision force when the robot collides with the grounding conductor;
and acquiring transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force.
3. The method of claim 2, wherein the calculating the estimated collision velocity and the preset robot mass information and the mass information of the ground conductor to obtain the transient collision force when the robot collides with the ground conductor comprises:
calculating the quality information of the robot and the quality information of the grounding conductor to obtain the reduced mass of the robot and the grounding conductor;
and calculating the reduced mass and the estimated collision speed to obtain the transient collision force when collision occurs.
4. The robot emergency stop control method according to claim 3, wherein the reduced mass is calculated according to the following formula:
wherein: mu is reduced mass;
mHis the effective mass of the grounded conductor;
mRis the effective mass of the robot;
calculating the transient impact force according to the following formula:
wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:
wherein v isrefIs the initial movement speed of the robot.
5. The robot scram control method according to claim 4, wherein the step of controlling robot deceleration or scram according to the transient collision force and the transient allowable force of the grounding conductor comprises:
establishing an impedance model of the grounding conductor according to the following formula, and controlling the robot to move according to the impedance model:
F＝K*X+B*X’+M*X”；
wherein F is the transient impact force;
x, X' are the target position, movement speed and deceleration of the robot movement planned by the impedance model respectively;
k, B and M are respectively a rigidity matrix, a damping matrix and a mass matrix of the grounding conductor;
the deceleration value is obtained by calculating according to the following formula:
X”＝(F-K*X+B*X’)/M。
6. a robot sudden stop control device based on proximity perception is characterized by comprising:
the receiving module is used for receiving data sent by the electronic skin of the proximity sense and calculating the distance between the robot and the grounding conductor according to the data;
the trigger output module is used for generating a corresponding trigger signal when the distance between the robot and the grounding conductor reaches a preset threshold value;
and the control module is used for outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.
7. The robot scram control device of claim 6, wherein the control module comprises:
the speed calculation unit is used for calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor in the process of deceleration movement of the robot so as to obtain the estimated collision speed when the robot collides with the grounding conductor;
the collision force calculation unit is used for acquiring robot mass information and grounding conductor mass information, and calculating the estimated collision speed, the robot mass information and the grounding conductor mass information to acquire transient collision force when the robot collides with the grounding conductor;
and the control unit is used for acquiring the transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.
8. The robot scram control device according to claim 6, wherein the collision force arithmetic unit includes:
the first operation subunit is used for calculating the quality information of the robot and the quality information of the grounding conductor so as to obtain the reduced quality of the robot and the grounding conductor;
and the second computing subunit is used for computing the reduced mass and the estimated collision speed so as to obtain the transient collision force during collision.
9. The sudden stop control device of a robot according to claim 8, wherein the first computing subunit calculates the reduced mass according to the following formula:
wherein: mu is reduced mass;
mHis the effective mass of the grounded conductor;
mRis the effective mass of the robot;
the second computing subunit calculates the transient impact force according to the following formula:
wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:
wherein v isrefIs the initial movement speed of the robot.
10. A storage medium storing a computer program, wherein a processor executes the computer program to implement the method for controlling sudden stop of a robot based on proximity perception according to any one of claims 1 to 5.
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