CN112405524B - Robot collision detection method and device and robot - Google Patents
Robot collision detection method and device and robot Download PDFInfo
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- CN112405524B CN112405524B CN202011127495.6A CN202011127495A CN112405524B CN 112405524 B CN112405524 B CN 112405524B CN 202011127495 A CN202011127495 A CN 202011127495A CN 112405524 B CN112405524 B CN 112405524B
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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
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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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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention is suitable for the technical field of robots, and provides a robot collision detection method, a device and a robot, wherein the method comprises the steps of detecting comprehensive parameters of a robot walking motor in a current working state in real time, so that external torque applied to the robot is determined according to the comprehensive parameters through calculation, and the external torque is equivalent to the torque of the robot walking motor by external acting force; judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or not, or whether the change rate of the external moment detected and calculated at the last moment is greater than a preset change rate or not; and if so, determining that the current robot is collided. The robot collision detection method provided by the invention solves the problems of high cost and complex design brought by the conventional realization of collision detection.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot collision detection method and device and a robot.
Background
Automatic or robotic power tools, such as robotic lawnmowers, are becoming increasingly popular. In a typical application, a work area such as a garden, the lawn mowing robot may not know that it has collided with many stationary or movable objects. Therefore, collision detection is necessary in order to be able to keep the mowing robot alert while working to adapt its operation when a collision is detected, thus avoiding the robot simply stopping in front of an object by trying to push through it. Also, from a safety point of view it is important to detect whether the robot is lifted, such that an operating member or tool, such as a rotary knife of a lawn mower, can be closed to prevent the risk of injury to the operator.
Lifting and collision detection is currently typically achieved by arranging the housing of the robot to be movable relative to the chassis or body of the robot. Such arrangements typically include a movable or slidable member whose movement is monitored, and if movement in the same plane as the surface being worked is detected, a collision is detected. And, if a movement in a plane perpendicular to the surface being worked is detected, a lift is detected.
However, the existing sensor devices such as the housing required to be arranged for detection and the hall sensor for monitoring displacement are adopted, so that the manufacturing cost is increased, and meanwhile, the structural design is complicated due to the design of the required housing.
Disclosure of Invention
The embodiment of the invention aims to provide a robot collision detection method, and aims to solve the problems of high cost and complex design caused by the existing realization of collision detection.
The embodiment of the invention is realized in such a way that a robot collision detection method comprises the following steps:
detecting the comprehensive parameters of a robot walking motor in a current working state in real time so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor from external acting force;
judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or not, or whether the change rate of the external moment detected and calculated at the last moment is greater than a preset change rate or not;
and if so, determining that the current robot is collided.
Further, the step of calculating and determining the external moment applied to the robot according to the comprehensive parameters comprises:
acquiring an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
calculating an integrated moment according to the obtained angle vector, angular velocity vector and angular acceleration vector of the robot walking motor;
calculating driving torque according to the obtained rotation radius of the robot walking motor, motor magnetic flux and motor current;
and calculating the external torque applied to the robot according to the comprehensive torque and the driving torque.
Still further, the method further comprises:
judging the current position area of the robot according to the change state of the external moment detected and calculated in real time;
and correspondingly adjusting the first moment threshold of the robot according to the current position area.
Still further, the method further comprises:
detecting attitude information of the robot in a current working state in real time, wherein the attitude information comprises a pitch angle;
and correspondingly adjusting a first moment threshold of the robot according to the pitch angle in the attitude information.
Still further, the method further comprises:
judging whether the duration time that the external moment applied to the robot detected after collision is greater than the second moment threshold value is greater than preset time or not;
if so, controlling the robot to retreat or turn according to the current working state so as to realize the escaping of the robot.
It is also an object of another embodiment of the present invention to provide a robot collision detecting apparatus, the apparatus including:
the external moment detection module is used for detecting the comprehensive parameters of the robot walking motor in real time under the current working state so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor by external acting force;
the moment judging module is used for judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or whether the change rate of the external moment detected and calculated at the previous moment is greater than a preset change rate;
and the collision determining module is used for determining that the current robot collides when the torque judging module judges that the external torque is greater than a first torque threshold value or the change rate of the external torque with the last external torque detected and calculated at the last moment is greater than a preset change rate.
Further, the external torque detection module includes:
the robot walking motor control device comprises a motor information acquisition unit, a control unit and a control unit, wherein the motor information acquisition unit is used for acquiring an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
the comprehensive moment calculation unit is used for calculating the comprehensive moment according to the obtained angle vector, angular velocity vector and angular acceleration vector of the robot walking motor;
the driving torque calculation unit is used for calculating driving torque according to the acquired rotation radius of the robot walking motor, motor magnetic flux and motor current;
and the external torque calculation unit is used for calculating the external torque applied to the robot according to the comprehensive torque and the driving torque.
Further, the apparatus further comprises:
the position area judging module is used for judging the current position area of the robot according to the change state of the external moment detected and calculated in real time;
and the first moment threshold adjusting module is used for correspondingly adjusting the first moment threshold of the robot according to the current position area.
Further, the apparatus further comprises:
the attitude information detection module is used for detecting the current attitude information of the robot in the current working state in real time, wherein the attitude information comprises a pitch angle;
and the second moment threshold adjusting module is used for correspondingly adjusting the first moment threshold of the robot according to the pitch angle in the current attitude information.
Further, the apparatus further comprises:
the duration judging module is used for judging whether the duration of the external moment applied to the robot detected after collision is larger than the second moment threshold value is larger than the preset time or not;
and the work control module is used for controlling the robot to retreat or turn according to the current working state when the duration time judging module judges that the duration time that the external moment received by the robot after collision is greater than the second moment threshold value is greater than the preset time, so as to realize the escaping of the robot.
Another embodiment of the present invention further provides a robot, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the robot executes the robot collision detection method as described above.
According to the robot collision detection method provided by the embodiment of the invention, as the comprehensive parameters of the walking motor are detected, the external moment borne by the robot can be calculated according to the comprehensive parameters, whether the robot collides or not is judged according to the change of the external moment of the walking motor, and the external moment of the robot is increased instantly when the existing robot collides, the robot can be subjected to collision detection only by detecting and calculating the external moment of the walking motor through the sensing equipment in the robot, so that a shell, a sensor and the like do not need to be additionally designed in the robot, the difficulty and the cost of the structural design of the robot are effectively reduced, and the problems of high cost and complex design brought by the existing collision detection are solved.
Drawings
Fig. 1 is a flowchart of a robot collision detection method according to an embodiment 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 block diagram of a robot collision detection apparatus provided by an embodiment of the present invention;
fig. 4 is a schematic block diagram of a robot collision detection apparatus 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 do not limit the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
According to the invention, the external moment applied to the walking motor is calculated by detecting the comprehensive parameters, and whether the robot collides or not is judged according to the change of the external moment of the walking motor, so that the collision detection of the robot can be realized only by detecting and calculating the external moment of the walking motor through the sensing equipment in the robot, and no additional shell, sensor and the like are required to be designed in the robot, thereby effectively reducing the difficulty and cost of the structural design of the robot.
Example one
Referring to fig. 1, which is a schematic flow chart of a robot collision detection method according to a first embodiment of the present invention, for convenience of description, only the parts related to the embodiment of the present invention are shown, and the robot collision detection method includes:
step S10, detecting the comprehensive parameters of the robot walking motor in real time under the current working state so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor by external acting force;
in one embodiment of the present invention, the robot collision detection method is applied to a robot, and in particular, to a mowing robot, wherein the mowing robot performs movement and mowing operations through driving of various motors. Specifically, in this embodiment, the mowing robot moves by driving the walking motor and performs mowing operation by driving the mowing motor.
The robot is characterized in that the moment applied to the robot in the moving process is mainly represented as the driving moment of a walking motor and the external moment equivalent to the external acting force on the walking motor, and the driving moment of the walking motor is used for driving the robot to move; the external moment can correspondingly push or block the movement of the robot, such as friction force and the like, and the external moment dynamically changes under different load conditions according to the robot, and if the external resistance applied to the robot is larger, the external moment is correspondingly larger.
The driving moment of the walking motor is a parameter of the internal running of the walking motor, and can be obtained by measuring according to each parameter (such as motor current, rotating radius and the like) of the running motor or calculating according to a motor model, so that the robot can obtain the comprehensive parameter of the running motor in real time, namely, the information such as the motor current of the walking motor and the like, correspondingly calculate to obtain the comprehensive moment and the driving moment of the walking motor, and substitute the calculated comprehensive moment and the calculated driving moment of the walking motor into a kinetic equation, so that the external moment applied to the robot in the current working state can be calculated.
Step S20, judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or whether the change rate of the external moment detected and calculated at the previous moment is greater than a preset change rate;
when the external torque is determined to be greater than the first torque threshold, or the change rate of the last external torque detected and calculated at the last time is greater than the preset change rate, step S30 is executed.
In the embodiment of the invention, when the normal working environment of the robot is stable, the external moment applied to the robot floats up and down within a reasonable range, however, when the robot collides, the obstacle generates a tendency of preventing the robot from continuing to move, so that the load of a walking motor of the robot is increased instantly, and the external moment is correspondingly reflected to be increased instantly; when the last external moment is smaller, the external moment is increased by more than a preset change rate (for example, two times or three times) after the collision, and at this time, after the external force is increased, the current external moment is still smaller than the first torque threshold value.
And judging whether the robot collides or not by judging any condition of the change rate between the external moment in the current working state and the first moment threshold or the last external moment, and determining that the robot is in the normal working state when judging that the external moment is smaller than the first moment threshold or the change rate between the external moment and the last external moment detected at the last moment is smaller than the preset change rate.
Step S30, determining that the current robot collides;
in the embodiment of the present invention, when it is determined that the external moment is greater than the first moment threshold, or the change rate between the external moment and the last external moment detected and calculated at the last time is greater than the preset change rate, it is determined that the external moment is increased due to the instant increase of the load when the current robot collides, and it is determined that the current robot collides at this time.
In this embodiment, because detect the combined parameter of walking motor, and can calculate the outside moment that the robot received according to this combined parameter, judge whether the robot bumps according to the change of the outside moment of walking motor this moment, increase its outside moment in the twinkling of an eye when current robot bumps, the outside moment that only needs to detect through the inside sensing equipment of robot and calculate the walking motor this moment can realize the collision detection to the robot, make and need not additionally design shell and sensor etc. in the robot again, the effectual degree of difficulty and the cost that reduces robot structural design, the problem of current realization collision detection brought with high costs and design complicacy has been solved.
Example two
Please refer to fig. 2, which is a flowchart illustrating a robot collision detection method according to a second embodiment of the present invention, wherein for convenience of description, only the relevant portions according to the second embodiment of the present invention are shown, and the robot collision detection method includes:
s11, detecting comprehensive parameters of a robot walking motor in a current working state in real time so as to calculate and determine external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor by external acting force;
in an embodiment of the present invention, the step of determining the external moment applied to the robot according to the comprehensive parameter calculation includes:
acquiring an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
calculating an integrated moment according to the obtained angle vector, angular velocity vector and angular acceleration vector of the robot walking motor;
calculating driving torque according to the obtained rotation radius of the robot walking motor, the motor magnetic flux and the motor current;
and calculating the external torque applied to the robot according to the comprehensive torque and the driving torque.
When the robot collides with the surrounding environment, the kinetic equation is as follows:
wherein the content of the first and second substances,
the angular vector, the angular velocity vector and the angular acceleration vector of the robot walking motor are respectively;
m (theta) is the moment of inertia of the wheels of the robot, which is an inertia matrix;
tau is the driving moment of the walking motor of the robot; tau is e The external force is equivalent to the moment of the walking motor;
furthermore, the driving torque of the walking motor is mainly related to the torque of the walking motor, and the driving torque of the walking motor can be correspondingly determined according to the calculated torque of the walking motor, wherein the calculation formula of the torque of the walking motor is as follows:
M＝CΦID；
wherein M is the torque of the walking motor; c is the above-mentioned Ge type matrix; phi is the motor magnetic flux; i is motor current; d is the rotation radius of the walking motor.
Therefore, the torque of the walking motor is correspondingly calculated according to the acquired rotation radius of the walking motor, the motor magnetic flux and the motor current, and finally the driving torque of the walking motor is calculated.
And calculating the comprehensive moment according to the obtained angle vector, angular velocity vector and angular acceleration vector of the robot walking motor, namely the left side of the equation in the formula, and at the moment, subtracting the calculated driving moment of the walking motor from the calculated comprehensive moment to correspondingly calculate the external moment of the robot.
In an embodiment of the present invention, after the step of detecting and calculating the external moment applied to the robot in the current working state in real time, the method further includes:
1. judging the current position area of the robot according to the change state of the external moment detected and calculated in real time;
2. and correspondingly adjusting the first moment threshold of the robot according to the current position area.
The mowing robot detects the external moment in the current working state in real time, wherein the mowing robot has different external moments due to different loads borne by a walking motor, for example, when the mowing robot is in a deep grass area or a muddy area, the external moment of the walking motor of the mowing robot is correspondingly increased due to the fact that the load resistance borne by the mowing robot in the deep grass area or the muddy area is larger than that of the shallow grass area, and the external moment of the walking motor of the mowing robot is determined to be in the deep grass area or the muddy area at the moment according to the change state of the external moment of the walking motor, such as small amplitude fluctuation of the external moment in a certain range, but the external moment is larger than the external moment in normal working at ordinary time.
The external moment of the walking motor when the current mowing robot is in a deep grass area or a muddy area is larger than the external moment of the walking motor during normal work, so that the external moment of any mowing robot during traveling or mowing action is larger than a first moment threshold value, the mowing robot is determined to be in collision, and at the moment, misjudgment is made when collision detection exists in the deep grass area. Therefore, the first torque threshold value of the external torque of the robot walking motor is correspondingly adjusted according to the current position area, so that the problem of high probability of misjudgment in some position areas due to different external torques when the mowing robot works in different position areas is solved.
Further, in the embodiment of the invention, since the method is applied to a mowing robot which is equipped with a mowing motor, the mode of judging the current position area of the mowing robot can also be a mode of judging the current change state of the mowing motor calculated according to real-time detection. When the mowing robot mows in a shallow grass area, the current of a mowing motor fluctuates in a small amplitude within a certain range, and the current is small; when the mowing robot mows in the dark grass area, the required mowing amount is increased, so that the current of the mowing motor is correspondingly increased, and at the moment, when the mowing robot detects that the current of the mowing motor is greatly increased, the current can be correspondingly judged to be in the dark grass area.
Therefore, if the mowing robot stops moving or moves slowly in a dark grass area to mow, because the external moment applied to the walking motor of the mowing robot is small, misjudgment can be generated when the area where the mowing robot is located is judged by the external moment change state of the walking motor alone, and the misjudgment is carried out by combining the change state with the current magnitude of the mowing motor, so that the accuracy of detecting the area where the mowing robot is located is improved, the first moment threshold value can be adjusted correspondingly subsequently, and the misjudgment of collision detection of the mowing robot in the dark grass area is avoided.
It should be noted that the step of adjusting the first torque threshold according to the position region may occur before or after step S11, and may also occur before or after other steps, where the execution order of the steps is not specifically limited, and is determined according to the order of the steps in the actual operation.
In another embodiment of the present invention, after the step of detecting and calculating the external moment applied to the robot in the current working state in real time, the method further includes:
1. detecting attitude information of the robot in the current working state in real time, wherein the attitude information comprises a course angle, a pitch angle and a roll angle;
2. and correspondingly adjusting a first moment threshold of the robot according to the pitch angle in the attitude information.
The mowing robot detects attitude information under the current working state in real time, and specifically, the mowing robot can collect and detect the attitude information through arranging an attitude sensor, wherein the attitude information comprises but is not limited to a course angle, a pitch angle and a roll angle. The robot judges that the robot does not collide because the external moment is not larger than the first moment threshold value and the change rate between the external moment threshold value and the last first moment threshold value detected at the last moment is not larger than the preset change rate when the robot collides, and the first moment threshold value correspondingly adjusted is smaller when the pitch angle is larger, so that the problem that the robot does not trigger when the robot collides at some inclination angles due to the fact that the first moment threshold values corresponding to the collision are different when the robot works at different inclination angles is solved.
As mentioned above, the step of adjusting the first moment threshold according to the posture information may occur before or after step S11, and the execution order of the step is not specifically limited, and is determined according to the order of the actual operations.
And S21, judging whether the external torque determined according to the motor current is greater than a first torque threshold value or whether the change rate of the external torque determined according to the motor current and the last external torque detected and calculated at the last moment is greater than a preset change rate.
When it is determined that the external torque is greater than the first torque threshold or the change rate with the last external torque detected and calculated at the last time is greater than the preset change rate, step S31 is executed.
And step S31, determining that the current robot collides.
Step S41, judging whether the duration time that the external moment received by the robot detected after collision is greater than the second moment threshold value is greater than preset time or not;
when the duration that the external moment received by the robot detected after the collision is greater than the second moment threshold is determined to be greater than the preset time, step S51 is executed.
In the embodiment of the invention, because the robot mower has the problems of motor stalling and idling after collision, the robot mower can not work normally due to faults such as falling into mud and continuously colliding with collision barriers, and the like, at the moment, after the robot is determined to collide, the external torque of the robot is detected in real time, whether the duration time that the external torque of the walking motor is greater than the second torque threshold value is greater than the preset time or not is judged, and when the duration time is determined to be greater than the preset time, the robot is determined to be in the fault state, and the robot needs to be controlled to get rid of the trouble; and when the preset time is determined to be shorter than the preset time, judging that the robot is in a normal working state, and continuously detecting whether the robot collides.
The second torque threshold is smaller than the first torque threshold and the external torque when the mowing robot collides, the torque of the mowing robot at the moment of collision suddenly changes, so that the change rate of the torque is increased to be larger than the first torque threshold or the change rate of the torque with the previous external torque is larger than a preset change rate, the recovered external torque is also smaller than the first torque threshold or the external torque when the mowing robot collides with a motor, and the external torque of a walking motor of the mowing robot is larger than the second torque threshold only when the mowing robot is in motor stalling or idling.
And S51, controlling the robot to retreat or turn according to the current working state so as to realize the trap removal of the robot.
In the embodiment of the present invention, when the duration that the external torque applied to the robot detected after collision is greater than the second torque threshold is greater than the preset time, it is determined that the robot is in the above fault state, at this time, the robot is controlled to perform corresponding backward movement or steering according to the current working state, the control may be either steering or backward movement, or the control may be performed to perform both the backward movement and the forward movement, for example, when the current working state of the robot is obtained as forward movement, the corresponding robot is controlled to perform backward movement, and when the current working state of the robot is obtained as left-turn or right-turn, the corresponding robot is controlled to perform right-turn or left-turn, so that the robot is out of trouble. When the subsequent control robot moves, the control robot correspondingly avoids the position collided with previously, for example, after the control robot moves backwards and the robot moves backwards, the subsequent control robot correspondingly deflects by a certain angle when moving forwards so as to avoid the position collided with previously. When the robot is controlled to turn or retreat, the detected external moment of the robot walking motor is still smaller than the second moment threshold value, so that the robot is in a stop state, the corresponding walking motor is controlled to stop working, and an alarm signal is sent to a terminal correspondingly connected with the walking motor, so that a user can correspondingly get rid of the trouble when the terminal is used by the user to obtain the alarm signal.
According to the robot collision detection method provided by the embodiment of the invention, the external moment is calculated by detecting the comprehensive parameters of the walking motor, whether the robot collides or not is judged according to the change of the external moment of the walking motor, the position area is judged according to the change state of the external moment of the walking motor, the first moment threshold value is correspondingly adjusted, and the first moment threshold value is adjusted according to the attitude information, so that the problems of collision misdetection when collision does not occur and collision is not detected when collision occurs can be effectively reduced, meanwhile, the robot can effectively get rid of the trouble when the robot slips and digs a pit according to the judgment of the external moment duration time of the walking motor after collision occurs, and the problems of high cost and complex design brought by the conventional realization of collision detection are solved.
EXAMPLE III
Referring to fig. 3, which is a schematic block diagram of a robot collision detection apparatus according to a third embodiment of the present invention, for convenience of description, only the parts related to the embodiment of the present invention are shown, and the robot collision detection apparatus includes:
the external moment detection module 11 is used for detecting the comprehensive parameters of the robot walking motor in real time under the current working state so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor by the external acting force;
the moment judging module 21 is configured to judge whether the external moment determined according to the comprehensive parameter is greater than a first moment threshold, or whether a change rate between the external moment and a last external moment detected and calculated at a last moment is greater than a preset change rate;
and a collision determination module 31, configured to determine that the current robot collides when the torque determination module 21 determines that the external torque is greater than the first torque threshold or a change rate between the external torque and a last external torque detected and calculated at a last time is greater than a preset change rate.
The robot collision detection device provided by the embodiment of the invention has the same implementation principle and technical effects as those of the method embodiment, and for brief description, reference may be made to corresponding contents in the method embodiment where no part of the embodiment of the device is mentioned.
Example four
Please refer to fig. 4, which is a block diagram of a robot collision detection apparatus according to a fourth embodiment of the present invention, for convenience of description, only the relevant parts related to the embodiment of the present invention are shown, and the implementation principle and the resulting technical effects are the same as those of the embodiment.
The difference is that, in one embodiment of the present invention, the external torque detection module 11 includes:
a motor information obtaining unit 111 for obtaining an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
a comprehensive moment calculation unit 112, configured to calculate a comprehensive moment according to the obtained angle vector, angular velocity vector, and angular acceleration vector of the robot walking motor;
a driving torque calculation unit 113 for calculating a driving torque based on the acquired radius of rotation of the robot travel motor, motor magnetic flux, and motor current;
and an external torque calculation unit 114, configured to calculate an external torque applied to the robot according to the integrated torque and the driving torque.
Further, in an embodiment of the present invention, the robot collision detecting apparatus further includes:
the position area judging module 41 is used for judging the current position area of the robot according to the change state of the external moment detected and calculated in real time;
and the first moment threshold adjusting module 51 is used for correspondingly adjusting the first moment threshold of the robot according to the current position area.
Further, in an embodiment of the present invention, the robot collision detecting apparatus further includes:
the attitude information detection module 61 is used for detecting the current attitude information of the robot in the current working state in real time, wherein the attitude information comprises a pitch angle;
and the second torque threshold adjusting module 71 is configured to adjust the first torque threshold of the robot according to the pitch angle in the current attitude information.
Further, in an embodiment of the present invention, the robot collision detecting apparatus further includes:
the duration judging module 81 is configured to judge whether a duration that the external moment received by the robot detected after the collision is greater than the second moment threshold is greater than a preset time;
and the work control module 91 is configured to control the robot to retreat or turn according to the current work state when the duration time that the external moment received by the robot detected after the collision is judged to be greater than the second moment threshold by the duration time judgment module 81 is greater than the preset time, so as to realize the trap removal of the robot.
The robot collision detection device provided by the embodiment of the invention has the same implementation principle and technical effects as the method embodiment, and for brief description, the corresponding contents in the method embodiment can be referred to where the device embodiment is not mentioned.
Embodiments of the present invention further provide a readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the steps of the robot collision detection method described in the above embodiments. The readable storage medium, such as: ROM/RAM, magnetic disks, optical disks, etc.
The embodiment of the invention also provides a robot, which comprises a processor, a memory and a computer program which is stored on the memory and can be run on the processor, wherein when the processor runs the computer program, the robot executes the robot collision detection method in the embodiment.
The robot provided by the embodiment of the invention calculates the external moment applied to the robot correspondingly by detecting the comprehensive parameters of the walking motor, judges whether the robot collides or not according to the change of the external moment of the walking motor, and can realize collision detection only by detecting and calculating the external moment of the walking motor through the internal sensing equipment because the external moment is increased instantly in the conventional collision, so that a shell, a sensor and the like do not need to be additionally designed, the difficulty and the cost of the structural design are effectively reduced, and the problems of high cost and complex design brought by the conventional collision detection are solved.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units or modules as needed, that is, the internal structure of the storage device is divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
Those skilled in the art will appreciate that the constituent structures shown in fig. 3 or 4 do not constitute limitations of the robot collision detecting apparatus of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components, and that the robot collision detecting method in fig. 1-2 may also be implemented using more or less components than those shown in fig. 3 and 4, or some components in combination, or a different arrangement of components. The units, modules, etc. referred to herein are a series of computer programs that can be executed by a processor (not shown) in the robot collision detecting apparatus and that can perform a specific function, and all of them can be stored in a storage device (not shown) of the robot collision detecting apparatus.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A robot collision detection method is applied to a mowing robot provided with a mowing motor, and is characterized by comprising the following steps:
detecting the comprehensive parameters of a robot walking motor in a current working state in real time so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor from external acting force;
judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or not, or whether the change rate of the external moment detected and calculated at the last moment is greater than a preset change rate or not;
if so, determining that the current robot collides;
the method further comprises the following steps:
judging the current position area of the robot according to the change state of the external moment detected and calculated in real time and the change state of the current of the mowing motor detected and calculated in real time, and detecting the attitude information of the robot under the current working state in real time, wherein the attitude information comprises a pitch angle;
and correspondingly adjusting a first moment threshold of the robot according to the current position area and the pitch angle in the attitude information.
2. The robot collision detecting method according to claim 1, wherein the step of calculating and determining the external moment to which the robot is subjected based on the integrated parameter includes:
acquiring an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
calculating a comprehensive moment according to the obtained angle vector, angular velocity vector and angular acceleration vector of the robot walking motor;
calculating driving torque according to the obtained rotation radius of the robot walking motor, motor magnetic flux and motor current;
and calculating the external torque applied to the robot according to the comprehensive torque and the driving torque.
3. The robot collision detection method according to claim 1, characterized in that the method further comprises:
judging whether the duration time that the external moment applied to the robot detected after collision is greater than the second moment threshold value is greater than preset time or not;
if so, controlling the robot to retreat or turn according to the current working state so as to realize the escaping of the robot.
4. A robot collision detection device applied to a mowing robot equipped with a mowing motor, characterized by comprising:
the external moment detection module is used for detecting the comprehensive parameters of the robot walking motor in real time under the current working state so as to calculate and determine the external moment applied to the robot according to the comprehensive parameters, wherein the external moment is the moment equivalent to the robot walking motor by external acting force;
the moment judging module is used for judging whether the external moment determined according to the comprehensive parameters is greater than a first moment threshold value or whether the change rate of the external moment detected and calculated at the previous moment is greater than a preset change rate;
the collision determining module is used for determining that the current robot collides when the torque judging module judges that the external torque is larger than a first torque threshold value or the change rate of the external torque with the last external torque detected and calculated at the last moment is larger than a preset change rate;
the position area judging module is used for judging the current position area of the robot according to the change state of the external moment and the change state of the current of the mowing motor;
the attitude information detection module is used for detecting the current attitude information of the robot in the current working state in real time, and the attitude information comprises a pitch angle;
the first moment threshold adjusting module is used for correspondingly adjusting a first moment threshold of the robot according to the current position area;
and the second moment threshold adjusting module is used for correspondingly adjusting the first moment threshold of the robot according to the pitch angle in the current attitude information.
5. The robot collision detecting device according to claim 4, wherein the external moment detecting module includes:
the robot walking motor control device comprises a motor information acquisition unit, a control unit and a control unit, wherein the motor information acquisition unit is used for acquiring an angle vector, an angular velocity vector, an angular acceleration vector, a rotation radius, a motor magnetic flux and a motor current of a robot walking motor in real time;
the comprehensive moment calculation unit is used for calculating the comprehensive moment according to the obtained angular vector, angular velocity vector and angular acceleration vector of the robot walking motor;
the driving torque calculation unit is used for calculating driving torque according to the acquired rotation radius of the robot walking motor, motor magnetic flux and motor current;
and the external torque calculation unit is used for calculating the external torque applied to the robot according to the comprehensive torque and the driving torque.
6. The robot collision detecting device according to claim 4, characterized in that the device further comprises:
the duration judging module is used for judging whether the duration of the external moment applied to the robot detected after collision is larger than the second moment threshold value is larger than the preset time or not;
and the work control module is used for controlling the robot to retreat or turn according to the current working state when the duration time judging module judges that the duration time that the external moment received by the robot after collision is greater than the second moment threshold value is greater than the preset time so as to realize the trap removal of the robot.
7. A robot comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the robot performing the robot collision detection method of any one of claims 1 to 3 when the processor executes the computer program.
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| CN116323119A (en) * | 2021-03-25 | 2023-06-23 | 南京泉峰科技有限公司 | Self-walking device and collision detection method thereof |
| CN113319853B (en) * | 2021-06-18 | 2022-11-22 | 广东智源机器人科技有限公司 | Robot control method, device, electronic equipment and robot system |
| CN113524260B (en) * | 2021-07-29 | 2022-07-26 | 之江实验室 | Multi-joint robot collision detection method |
| CN114161477A (en) * | 2021-12-03 | 2022-03-11 | 厦门驱动未来科技有限公司 | Industrial robot collision detection method |
| CN114193510A (en) * | 2021-12-07 | 2022-03-18 | 苏州迪天机器人自动化有限公司 | Robot sensitive collision detection method based on current learning and robot |
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