CN111906775A - Robot collision detection method and device, storage medium and robot - Google Patents
Robot collision detection method and device, storage medium and robot Download PDFInfo
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The embodiment of the invention relates to the technical field of robots, and discloses a robot collision detection method, a device and a robot, wherein the method comprises the following steps: acquiring current, current speed and current acceleration of a robot joint; obtaining a current second derivative according to the current and the historical current corresponding to the joint; respectively establishing a current space threshold model and a current second-order conductance space threshold model of a joint shaft corresponding to a joint; if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting robot collision; if the current speed is greater than or equal to the preset speed threshold, the current acceleration is greater than or equal to the preset acceleration threshold, and the current second order conductance is greater than or equal to the current second order conductance threshold, the robot collision is detected.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot collision detection method, a device, a storage medium and a robot.
Background
In the production application of the robot, especially when debugging equipment, the possibility that the robot body or a clamp is damaged due to collision with an external barrier is not eliminated, even the robot collides with the human body, the personal safety is threatened, and the consequences are not considered. After a robot collides, the collision force is increased instantly, so that a collision detection algorithm needs to have real-time performance, accuracy and certain collision direction identification capacity so as to better control the collision force and reduce collision damage.
At present, three main methods for detecting robot collision are provided;
first, detection is performed by means of, for example, torque sensors or by means of a vision system, these external sensors are expensive and require complex dynamic models to be established, are not suitable for mass production and require low-cost industrial robots;
secondly, a dynamic model is established according to parameters such as joint current and the like, and the moment obtained by calculation is used as a collision detection judgment basis;
thirdly, by using the characteristics of the robot, such as current detection and position error detection of each joint of the robot, as the basis for collision detection judgment, a complex dynamic model does not need to be established, but current or position error parameters are singly considered in the method, and the parameters change continuously in the motion of the robot, especially when the speed of the robot is high, the fluctuation is large, so that the threshold model for judging whether collision occurs is not established favorably, and the change of the current or position deviation of the collision needs a certain time to reach the peak value, so that the detection sensitivity is influenced.
In summary, a collision detection method which is low in cost, simple and stable in detection algorithm and easy to popularize in industrial robot production is needed.
Disclosure of Invention
The technical problem mainly solved by the embodiments of the present invention is to provide a robot collision detection method, device, storage medium and robot, which can solve the problems of high cost, simple detection algorithm, instability and difficulty in popularization of the existing robot collision detection method.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention adopts a technical solution that: provided is a robot collision detection method including:
acquiring current, current speed and current acceleration of a robot joint;
obtaining a current second derivative according to the current and the historical current corresponding to the joint;
respectively establishing a current space threshold model and a current second-order-conductance space threshold model of a joint shaft corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance;
if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting that the robot collides;
and if the current speed is greater than or equal to a preset speed threshold value or/and the current acceleration is greater than or equal to a preset acceleration threshold value, and the current second derivative is greater than or equal to the current second derivative threshold value, detecting the robot collision.
In order to solve the above technical problem, in a second aspect, another technical solution adopted in the embodiment of the present invention is: provided is a robot collision detection device including:
the data acquisition unit is used for acquiring the current, the current speed and the current acceleration of the robot joint;
the change rate obtaining unit is used for obtaining a current second derivative according to the current and the historical current corresponding to the joint;
the threshold value obtaining unit is used for respectively establishing a current space threshold value model and a current second-order-conductance space threshold value model of a joint shaft corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance;
the first collision detection unit is used for detecting robot collision if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold;
and the second collision detection unit is used for detecting robot collision if the current speed is greater than or equal to a preset speed threshold value or/and the current acceleration is greater than or equal to a preset acceleration threshold value, and the current second derivative is greater than or equal to the current second derivative threshold value.
In order to solve the above technical problem, in a third aspect, an embodiment of the present invention further provides a robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect as described above.
In order to solve the above technical problem, in a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to the first aspect.
In order to solve the above technical problem, in a fifth aspect, the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method according to the first aspect.
The embodiment of the invention has the beneficial effects that: different from the prior art, the method comprises the steps of acquiring the current, the current speed and the current acceleration of the robot joint; obtaining a current second derivative according to the current and the historical current corresponding to the joint; respectively establishing a current space threshold model and a current second-order conductance space threshold model of a joint shaft corresponding to a joint; if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting robot collision; if the current speed is greater than or equal to the preset speed threshold, the current acceleration is greater than or equal to the preset acceleration threshold, and the current second order conductance is greater than or equal to the current second order conductance threshold, the robot collision is detected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic representation of a SCARA robot joint for use in embodiments of the present invention;
fig. 2 is a flowchart of a robot collision detection method according to an embodiment of the present invention;
FIG. 3 is a comparison graph of current waveforms before and after second-order low-pass filtering in an embodiment of the present invention;
FIG. 4 is a graph of J1 axis current and rate of change of current at low speed according to an embodiment of the present invention;
FIG. 5 is a graph of J1 axis current and rate of change of current at higher speed provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another robot collision detection apparatus provided in the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, in order to better understand the embodiment of the Robot collision detection method of the present invention, a Selective Compliant Assembly Robot Arm (SCARA) Robot is used for the following description. As shown in fig. 1, the SCARA robot has four joints including three rotational joints around the Z-axis and one translational joint along the Z-axis, and as shown in fig. 1, the four axes are referred to as J1, J2, J3 and J4, respectively. The range of the motion area of the SCARA robot is determined by the rotation or movement range of the four joints, and the collision detection method provided by the invention needs to protect the whole motion area of the robot.
Specifically, the embodiments of the present invention will be further explained below with reference to the drawings.
An embodiment of the present invention provides a robot collision detection method, which can be executed by the robot, please refer to fig. 2, which shows a flowchart of a robot collision detection method applied by the robot, and the method includes, but is not limited to, the following steps:
step 21: and acquiring the current, the current speed and the current acceleration of the robot joint.
In the embodiment of the invention, the current is the current signal of the joint motor, and the current speed and the current acceleration are the current speed and the current acceleration of the joint. And acquiring the current, the current speed and the current acceleration of each joint of the robot in real time, wherein the current speed and the current acceleration can reflect the current running state of the robot.
Preferably, after step 21, the method further comprises:
judging whether the current belongs to signal mutation or not according to the current control operation type of the robot, if the current belongs to the signal mutation, pausing for preset time and then starting to perform collision detection on the current, the current speed and the current acceleration of the joint of the robot, wherein the signal mutation comprises a critical point of current reversal in the speed change and acceleration and deceleration processes.
In the actual motion process of the robot, the change of the joint current of the robot can be influenced by some conventional operations of the robot, so that the current signal has steep sudden change, the second derivative of the current obtained by differential calculation is large at the moment, the judgment of collision detection can be directly interfered, and the condition of the sudden change of the signal needs to be eliminated.
In the embodiment of the invention, the signal abrupt change comprises a speed change and a critical point of current reversal in the acceleration and deceleration process, and the speed change comprises speed adjustment, robot starting and robot pausing. The preset time is the setting time for performing collision detection in a delayed manner under the condition of sudden change of signals, and can be set according to actual needs, and is usually set to be hundreds of milliseconds. When the speed change frequency of the robot is too high, acceleration and deceleration are frequently performed, so that the fluctuation of the current is increased, the second order conductance of the current is increased, and even is larger than a threshold value during collision, and therefore misjudgment can be caused. The robot relates to acceleration and deceleration processes in a motion process, in the acceleration and deceleration switching process, current is necessarily reversed from positive current to negative current or from negative current to positive current, when acceleration is particularly large and speed is low, motor current overshoots in the reversing process, then the motor current is adjusted and stabilized after a period of time, in the process, the overshoot current change rate is large, the current second-order conductance is also very large, a current signal similar to collision is generated, and therefore misjudgment can be caused. Therefore, whether the current belongs to the signal sudden change or not is judged according to the current control operation type of the robot, if the current belongs to the signal sudden change, the current, the current speed and the current acceleration of the joints of the robot are subjected to collision detection after the preset time is paused, the problem can be solved, hundreds of milliseconds are delayed until the speed of the robot is stable, and the collision detection function cannot be influenced by the hundreds of milliseconds.
Preferably, after step 21, the method further comprises:
and carrying out second-order low-pass filtering processing on the current.
In the embodiment of the invention, unfiltered joint motor current signals have more high-frequency noise points and larger local fluctuation, the change rate can be directly influenced when the current is subjected to difference calculation, and the current needs to be subjected to second-order low-pass filtering treatment, as shown in fig. 3, a filtered current curve is obviously smooth and burr-free, and the ideal current change rate can be obtained more easily.
Step 22: and obtaining a current second derivative according to the current and the historical current corresponding to the joint.
In the embodiment of the invention, the historical current is a current value before the current time of the joint. The second derivative of current is the rate of change of current. The current second-order conductance obtaining step comprises the following steps of:
substep S221: differentiating the current and the historical current corresponding to the joint to obtain a current change rate;
substep S222: and carrying out second-order filtering on the current change rate, and carrying out difference again to obtain a current second-order conductance.
Preferably, after obtaining the second derivative of the current, the method further comprises:
and performing signal multiplication and superposition processing on the current second derivative.
When the robot is impacted by external force, the current second conductance of the joint changes suddenly instantly, the peak value is reached within dozens of milliseconds to hundreds of milliseconds, when the robot is not impacted by the external force, the current second conductance is very small, after the current second conductance is multiplied and superposed by signals, a waveform with an order of magnitude larger than that before superposition can be formed, and the waveform after the current signals are superposed rises faster than that before superposition, so that the time for reaching the peak value is shorter. In addition, after the signals are superposed, the difference value of the current second derivative in collision and the current second derivative in no collision is more obvious than that when the signals are not superposed.
Step 23: and respectively establishing a current space threshold model and a current second-order-conductance space threshold model of the joint shaft corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance.
For the analysis of the single joints of the robot, the joint current is used for driving the corresponding joints to move, and each joint is enabled to reach the expected speed under the set acceleration magnitude. Obviously, when the expected acceleration and speed change, the driving current of the joint also changes correspondingly, so that the current has obvious correlation with the actual speed and acceleration. Basically, the following cases can be classified: lower acceleration and lower speed; acceleration is low, and speed is high; acceleration is high, and speed is low; higher acceleration and higher speed. Under different conditions, the change rate of the joint current is obviously different, and the change rate is different in different acceleration and deceleration processes.
In the embodiment of the invention, the historical speed, the historical acceleration, the historical current and the historical current second derivative of each joint are collected; and performing piecewise fitting according to the historical speed, the historical acceleration, the historical current and the historical current second order derivative, and respectively establishing a current space threshold model and a current second order derivative space threshold model of the joint shaft corresponding to the joint. Wherein the historical speed is all speed data including the present speed, the historical acceleration is all acceleration data including the present acceleration, the historical current is all current data including the present current, and the historical second derivative is current second derivative data including the present current second derivative. Then, running and testing the current space threshold model and the current second order lead space threshold model through a robot, and adjusting the current space threshold model and the current second order lead space threshold model of each joint axis according to a test result; and/or setting a sensitivity parameter to adjust the current space threshold model and the current second order lead space threshold model so as to use different robot models, wherein the sensitivity parameter is used for adjusting the difference between the current output and the current second order lead of each joint of different robot models, and the different factors are arm length, joint friction force, inertia and reduction ratio parameters. The detection method can achieve the most sensitive and zero false alarm effect by adjustment.
Step 24: and if the current speed is less than a preset speed threshold, the current acceleration is less than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting the robot collision.
In the embodiment of the invention, the preset speed threshold is a speed threshold used for distinguishing whether the robot runs at a higher speed or a lower speed, and can be obtained through testing, wherein the speed is higher when the running speed is greater than or equal to the preset speed threshold, and the speed is lower than the preset speed threshold. The preset acceleration threshold is an acceleration threshold for distinguishing whether the acceleration of the robot is a high speed or a low speed. The preset current threshold is a preset threshold for judging whether the current of the robot joint reaches a collision critical point or not under the low-speed operation. When the robot is in a smooth motion state, the current value is smooth and does not change much, but when the robot collides to cause a position error, the current value is suddenly increased in order to generate a larger moment to eliminate the error. Therefore, the real-time current parameters of all joints can be used as judgment conditions for collision detection. As shown in fig. 4, it is a graph of the J1 axis current value, the current change rate and the current second derivative change with time when the robot is operating at a low speed, and it can be seen from the graph that the joint current of the robot is not large at the low speed, the fluctuation is not obvious during the acceleration and deceleration of the robot, when an external force is applied to the moving robot by a human, the current peak value is pulled up instantly, and the peak value is much larger than the current peak value during the movement of the robot. In addition, as can be seen from fig. 4, the current change rate and the current second derivative are observed, and it is found that the peak value in the collision region appears earlier than the peak value of the current value, and the difference between the peak value and the fluctuation value is more obvious by comparing the fluctuation value, so that whether the collision critical point is reached is more easily judged.
Step 25: and if the current speed is greater than or equal to a preset speed threshold value or/and the current acceleration is greater than or equal to a preset acceleration threshold value, and the current second derivative is greater than or equal to the current second derivative threshold value, detecting the robot collision.
In the embodiment of the present invention, when the robot moves at a higher speed, i.e. when the operation speed is greater than or equal to the preset speed threshold, as shown in fig. 5, the current variation amplitude is increased, the difference between the peak value of the variation at the time of collision and the peak value of the current fluctuation is not obvious, and particularly when a slightly small external force is applied to the moving robot, the collision peak value of the current is lower than the current fluctuation peak value, in which case it is obviously not feasible to rely on the current as the basis for collision detection. As shown in fig. 5, the two graphs during the robot movement show that the time for the second order current derivative to reach the peak is shorter and is steeper than the current change rate graph, so that when the robot moves at a higher speed, the second order current derivative is used as the collision detection judgment condition and reaches the collision condition relatively earlier than the current change rate is used as the collision detection judgment condition, and as shown in fig. 5, the time difference is more than 20ms, so that the robot is more sensitive.
It should be noted that, if only the second derivative of the current is used as the collision detection determination condition, it is obviously not comprehensive. When the robot runs at a speed less than a preset speed threshold, the driving current is extremely low, the current fluctuation is very small, and when a collision occurs, the current second order conductance is very small. In this case, it is more effective to use the actual current as the determination condition.
Preferably, after the detecting of the robot collision, the method further comprises:
and executing a preset collision stop control instruction to perform collision stop early warning, wherein the preset collision stop control instruction comprises an alarm stop control instruction, a direct stop control instruction or a pause control instruction.
The alarm stop control instruction is used for controlling the robot to stop immediately after detecting collision and output an alarm, and the robot can move again only by releasing the alarm and starting the program again by the user. The direct stop control instruction is used for controlling the robot not to give an alarm for output, a user can directly start the program, and the program is operated again after the robot moves to the initial position. And the pause control instruction is used for controlling the robot to stay at the collision position after detecting the collision until the operation user restarts the program, and the robot continues to move backwards at the collision position.
The embodiment of the invention provides a robot collision detection method, which comprises the steps of obtaining the current, the current speed and the current acceleration of a robot joint; obtaining a current second derivative according to the current and the historical current corresponding to the joint; respectively establishing a current space threshold model and a current second-order conductance space threshold model of a joint shaft corresponding to a joint; if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting robot collision; if the current speed is greater than or equal to the preset speed threshold, the current acceleration is greater than or equal to the preset acceleration threshold, and the current second order conductance is greater than or equal to the current second order conductance threshold, the robot collision is detected.
The present invention further provides an embodiment of a robot collision detection apparatus, please refer to fig. 6, which is a schematic structural diagram of the robot collision detection apparatus provided in the embodiment of the present invention, and the robot collision detection apparatus includes: a data acquisition unit 61, a change rate acquisition unit 62, a threshold value acquisition unit 63, a first collision detection unit 64, and a second collision detection unit 65.
The data acquisition unit 61 is used for acquiring the current, the current speed and the current acceleration of the robot joint;
a change rate obtaining unit 62, configured to obtain a second derivative of the current according to the current and a historical current corresponding to the joint;
a threshold obtaining unit 63, configured to respectively establish a current spatial threshold model and a current second-order-conductance spatial threshold model of a joint axis corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance;
the first collision detection unit 64 is configured to detect a robot collision if the current speed is less than a preset speed threshold, the current acceleration is less than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold;
and the second collision detection unit 65 is configured to detect a robot collision if the current speed is greater than or equal to a preset speed threshold or/and the current acceleration is greater than or equal to a preset acceleration threshold, and the current second derivative is greater than or equal to the current second derivative threshold.
In some embodiments, the spatial threshold model is generated by collecting a historical velocity, a historical acceleration, a historical current, and a historical current second derivative for each joint; performing piecewise fitting according to the historical speed, the historical acceleration, the historical current and the historical current second-order derivative, and respectively establishing a current space threshold model and a current second-order derivative space threshold model of a joint shaft corresponding to the joint;
testing the current space threshold model and the current second order lead space threshold model through robot operation, and adjusting the current space threshold model and the current second order lead space threshold model of each joint axis according to a test result; and/or
Setting a sensitivity parameter to adjust the current space threshold model and the current second derivative space threshold model to use different robot models.
In some embodiments, the apparatus further comprises:
and the first filtering unit is used for carrying out second-order low-pass filtering processing on the current.
In some embodiments, the change rate obtaining unit 62 is specifically configured to perform a difference between the current and the historical current corresponding to the joint to obtain a current change rate; and carrying out second-order filtering on the current change rate, and carrying out difference again to obtain a current second-order conductance.
In some embodiments, the apparatus further comprises:
and the second filtering unit is used for carrying out signal multiplication and superposition processing on the current second derivative.
In some embodiments, the apparatus further comprises:
and the sudden change eliminating unit is used for judging whether the current belongs to signal sudden change or not according to the current control operation type of the robot, if the current belongs to the signal sudden change, stopping the preset time and then starting to perform collision detection on the current, the current speed and the current acceleration of the joint of the robot, wherein the signal sudden change comprises a speed change and a critical point of current reversal in the acceleration and deceleration process.
In some embodiments, the apparatus further comprises:
and the collision early warning unit is used for executing a preset collision stop control instruction to carry out collision stop early warning, wherein the preset collision stop control instruction comprises an alarm stop control instruction, a direct stop control instruction or a pause control instruction.
It should be noted that, since the robot collision detection apparatus in the present embodiment is based on the same inventive concept as the above-mentioned method embodiment, the corresponding contents in the method embodiment are also applicable to the apparatus embodiment, and are not described in detail herein.
Fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present invention, where the robot is a hardware structure capable of executing the robot collision detection method shown in fig. 2. The robot includes:
at least one processor 310; and a memory 320 communicatively coupled to the at least one processor 310, one processor 310 being illustrated in fig. 7. The memory 320 stores instructions executable by the at least one processor 310 to enable the at least one processor 310 to perform the robot collision detection method described above with respect to fig. 2 when the instructions are executed by the at least one processor 310. The processor 310 and the memory 320 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The memory 320 is a non-volatile computer-readable storage medium and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the robot collision detection method in the embodiment of the present application, for example, the modules shown in fig. 6. The processor 310 executes various functional applications of the server and data processing by running nonvolatile software programs, instructions and modules stored in the memory 320, so as to implement the robot collision detection method of the above-described method embodiment.
The memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the robot collision detection apparatus, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 320 may optionally include memory located remotely from processor 310, which may be connected to the robot collision detection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 320 and when executed by the one or more processors 310 perform the robot collision detection method in any of the method embodiments described above, e.g., perform the method steps of fig. 2 described above, implementing the functionality of the modules and units in fig. 6.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, e.g., to perform the method steps of fig. 2 described above, to implement the functions of the modules in fig. 6.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the robot collision detection method in any of the above-described method embodiments, for example, to perform the method steps of fig. 2 described above, to implement the functions of the modules in fig. 6.
The embodiment of the invention provides a robot collision detection method, which comprises the steps of obtaining the current, the current speed and the current acceleration of a robot joint; obtaining a current second derivative according to the current and the historical current corresponding to the joint; respectively establishing a current space threshold model and a current second-order conductance space threshold model of a joint shaft corresponding to a joint; if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting robot collision; if the current speed is greater than or equal to the preset speed threshold, the current acceleration is greater than or equal to the preset acceleration threshold, and the current second order conductance is greater than or equal to the current second order conductance threshold, the robot collision is detected.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A robot collision detection method, characterized in that the method comprises:
acquiring current, current speed and current acceleration of a robot joint;
obtaining a current second derivative according to the current and the historical current corresponding to the joint;
respectively establishing a current space threshold model and a current second-order-conductance space threshold model of a joint shaft corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance;
if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold, detecting that the robot collides;
and if the current speed is greater than or equal to a preset speed threshold value or/and the current acceleration is greater than or equal to a preset acceleration threshold value, and the current second derivative is greater than or equal to the current second derivative threshold value, detecting the robot collision.
2. The robot collision detection method according to claim 1, wherein the spatial threshold model is obtained by collecting a historical velocity, a historical acceleration, a historical current, and a historical current second derivative of each joint;
performing piecewise fitting according to the historical speed, the historical acceleration, the historical current and the historical current second-order derivative, and respectively establishing a current space threshold model and a current second-order derivative space threshold model of a joint shaft corresponding to the joint;
testing the current space threshold model and the current second order lead space threshold model through robot operation, and adjusting the current space threshold model and the current second order lead space threshold model of each joint axis according to a test result; and/or
Setting a sensitivity parameter to adjust the current space threshold model and the current second derivative space threshold model to use different robot models.
3. The robot collision detection method according to claim 1, wherein before obtaining a second derivative of current from the current and a historical current corresponding to the joint, the method further comprises:
and carrying out second-order low-pass filtering processing on the current.
4. The robot collision detection method according to claim 1, wherein the obtaining a current second derivative according to the current and the historical current corresponding to the joint comprises:
differentiating the current and the historical current corresponding to the joint to obtain a current change rate;
and carrying out second-order filtering on the current change rate, and carrying out difference again to obtain a current second-order conductance.
5. The robot collision detection method according to claim 1 or 4, characterized in that after obtaining the current second derivative, the method further comprises:
and performing signal multiplication and superposition processing on the current second derivative.
6. The robot collision detection method according to claim 1, wherein after the current, the current velocity, and the current acceleration of the robot joint are acquired, the method further comprises:
judging whether the current belongs to signal mutation or not according to the current control operation type of the robot, if the current belongs to the signal mutation, pausing for preset time and then starting to perform collision detection on the current, the current speed and the current acceleration of the joint of the robot, wherein the signal mutation comprises a critical point of current reversal in the speed change and acceleration and deceleration processes.
7. The robot collision detecting method according to claim 1, wherein after the robot collision is detected, the method further comprises:
and executing a preset collision stop control instruction to perform collision stop early warning, wherein the preset collision stop control instruction comprises an alarm stop control instruction, a direct stop control instruction or a pause control instruction.
8. A robot collision detecting device characterized by comprising:
the data acquisition unit is used for acquiring the current, the current speed and the current acceleration of the robot joint;
the change rate obtaining unit is used for obtaining a current second derivative according to the current and the historical current corresponding to the joint;
the threshold value obtaining unit is used for respectively establishing a current space threshold value model and a current second-order-conductance space threshold value model of a joint shaft corresponding to the joint according to the current speed, the current acceleration, the current and the current second-order conductance;
the first collision detection unit is used for detecting robot collision if the current speed is smaller than a preset speed threshold, the current acceleration is smaller than a preset acceleration threshold, and the current is greater than or equal to a preset current threshold;
and the second collision detection unit is used for detecting robot collision if the current speed is greater than or equal to a preset speed threshold value or/and the current acceleration is greater than or equal to a preset acceleration threshold value, and the current second derivative is greater than or equal to the current second derivative threshold value.
9. A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1-7.
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| CN116533253A (en) * | 2023-07-03 | 2023-08-04 | 佛山智能装备技术研究院 | Industrial robot fault diagnosis method based on feedback current spectrum analysis |
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