CN112923968A - Collision detection method, collision detection device, storage medium, and electronic device - Google Patents
Collision detection method, collision detection device, storage medium, and electronic device Download PDFInfo
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Abstract
The invention provides a collision detection method, a collision detection device, a storage medium and an electronic device, wherein the method comprises the following steps: determining at least one group of load rotation angles and motor currents of the motor detected in a target time period, wherein the target time period is a time period from a preset initial detection time to a target detection time; determining a rotation angle parameter value based on the load rotation angle detected within the target period of time, and determining a current parameter value based on the motor current detected within the target period of time; and when the product of the rotation angle parameter value and the current parameter value is determined to be larger than a preset threshold value, determining that the equipment where the motor is located is collided at the target detection moment. The invention solves the problem that the collision can not be effectively detected in the related technology, and further achieves the purpose of timely and accurately determining the collision.
Description
Technical Field
The present invention relates to the field of communications, and in particular, to a collision detection method and apparatus, a storage medium, and an electronic apparatus.
Background
Collision detection is of great significance in motion planning of devices (e.g., robots) with autonomous movement capabilities, and if collision detection is not available, a motion planning algorithm cannot predict whether a searched path will collide with an obstacle, and in case of serious conditions, a result of death of a person due to machine damage may occur.
In general, in collision detection, environment information is created using an output of a sensor (e.g., a radar, an infrared distance sensor, a camera, etc.) as data, and collision detection is performed based on the environment information. It follows that the accuracy of collision detection depends heavily on the accuracy of the sensor. However, the existing sensor cannot sense the environment completely and accurately, and cannot avoid noise points, blind areas and the like.
Therefore, there is a problem in the related art that the collision cannot be effectively detected.
Disclosure of Invention
Embodiments of the present invention provide a collision detection method, apparatus, storage medium, and electronic apparatus, so as to at least solve the problem that collision cannot be effectively detected in the related art.
According to an embodiment of the present invention, there is provided a collision detection method including: determining at least one group of load rotation angles and motor currents of the motor detected in a target time period, wherein the target time period is a time period from a preset initial detection time to a target detection time; determining a rotation angle parameter value based on the load rotation angle detected within the target period of time, and determining a current parameter value based on the motor current detected within the target period of time; and when the product of the rotation angle parameter value and the current parameter value is determined to be larger than a preset threshold value, determining that the equipment where the motor is located is collided at the target detection moment.
According to another embodiment of the present invention, there is also provided a collision detection apparatus including: the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining at least one group of load rotation angle and motor current of a motor detected in a target time period, and the target time period is a time period from a preset initial detection time to a target detection time; a second determination module configured to determine a rotation angle parameter value based on the load rotation angle detected in the target period, and determine a current parameter value based on the motor current detected in the target period; and the third determination module is used for determining that the equipment where the motor is located collides at the target detection moment when the product of the rotation angle parameter value and the current parameter value is determined to be larger than a preset threshold value.
According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of the above-mentioned method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in the above method embodiments.
According to the invention, whether the equipment where the motor is located collides can be directly determined according to the load rotation angle of the motor and the current of the motor, so that the collision occurrence condition is determined without an additional sensor, the problem that the collision cannot be effectively detected in the related technology is effectively solved, and the purpose of timely and accurately determining the collision is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a collision detection method according to an embodiment of the invention;
fig. 2 is a block diagram of the structure of a collision detecting apparatus according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Aiming at the problems that the existing sensor cannot accurately sense the environment completely, cannot avoid noise points, blind areas and the like, the additional addition of a collision sensor for detecting collision in real time is considered in the related technology.
The travel switch utilizes the collision of the moving part to enable the contact to act to realize the connection or disconnection of the circuit, so the travel switch can be used as a collision detection sensor, and has the advantages of convenient installation, sensitive detection and low price. However, when designing the housing, the travel switch is typically not fully paved over the entire housing, which leaves a potential safety hazard with the solution of using the travel switch as a collision detection sensor having a dead zone. In the related art, a distributed pressure sensor is also used, which can completely cover the surface of the machine, but is still in the development stage, unreliable and expensive. Therefore, there is a problem in the related art that the collision cannot be effectively detected. In view of the above problems in the related art, an embodiment of the present invention provides a collision detection method, and the present invention is described below with reference to the following embodiments:
in the present embodiment, a collision detection method is provided, and fig. 1 is a flowchart of a collision detection method according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:
step S102, determining at least one group of load rotation angle and motor current of a motor detected in a target time period, wherein the target time period is a time period from a preset initial detection time to a target detection time;
a step S104 of determining a rotation angle parameter value based on the load rotation angle detected within the target time period, and determining a current parameter value based on the motor current detected within the target time period;
and S106, when the product of the rotation angle parameter value and the current parameter value is larger than a preset threshold value, determining that the equipment where the motor is located collides at the target detection moment.
The processor may be disposed in the device where the motor is located, or of course, other similar processors may be used to perform the above operations, which are relatively independent from the device where the motor is located. The device in which the motor is located may be a device with autonomous movement capability, such as a robot. The target time period may include a plurality of detection timings, that is, the processing may include, in addition to the initial detection timing and the target detection timing, a detection timing between the initial detection timing and the target detection timing, and at least one detection timing may correspond to detection of the load rotation angle and the motor current of the motor. In an embodiment of the present invention, the load rotation angle may be directly measured by a rotary encoder.
In the embodiment, whether the equipment where the motor is located collides can be determined directly according to the load rotation angle of the motor and the current of the motor, so that the collision occurrence condition is determined without an additional sensor, the problem that the collision cannot be effectively detected in the related technology is effectively solved, and the purpose of timely and accurately determining the collision is achieved.
In an optional embodiment, determining the rotation angle parameter value based on the load rotation angle detected in the target period of time includes: determining a first column vector consisting of load turns detected within the target time period; determining a transpose of the first column vector as a second column vector; determining a pseudo-inverse of the second column vector as the corner parameter value. In the present embodiment, it is assumed that the load rotation angles detected in the target time periods are θ respectively1、θ2、θ3……θnThe above-mentioned value of the angle of rotation parameter
Is thetaN＝[θ1、θ2、θ3......θn TThe pseudo-inverse of (1).
In an optional embodiment, determining the current parameter value based on the detected motor current over the target time period comprises: determining a third column vector of motor currents detected during the target time period; determining a transpose of the third column vector as the current parameter value. In the present embodiment, it is assumed that the current of the motor detected in the target period is I respectively1、I2、I3……InThen the above current parameter INIs [ I ]1、I2、I3......In]T。
In an optional embodiment, the method further comprises one of: acquiring the input preset threshold value; setting the predetermined threshold based on a performance parameter of a device in which the motor is located. In this embodiment, the predetermined threshold may be obtained by inputting, or may be determined autonomously by the device where the motor is located, where the predetermined threshold may be determined according to actual operating conditions, for example, performance parameters (for example, an acceptable collision force, a response sensitivity, and the like) of the device where the motor is located.
Assuming that the product of the above-mentioned value of the angle of rotation parameter and the value of the current parameter is represented by gamma, then
When it is detected that γ is larger than the above predetermined threshold, it is considered that a collision has occurred at the present time.
The following formula will be described in detail with reference to the examples
How it is determined:
the motor is a common prime mover, and the dynamic model of the motor in operation can be simplified as follows:
wherein T (theta) is output torque of the motor, theta is a load rotation angle, J is load moment of inertia, beta is a viscosity coefficient, k is an elastic coefficient, TfIs resistance.
After Laplace (Laplace) transformation is taken on two sides of the equation, a formula is obtained:
T＝s2Jθ+βsθ+kθ+Tf
wherein s ═ j ω
According to the laws of physics, it can be found that
The damping characteristics of the load can be measured and correspond to the stiffness coefficient, damping and angular acceleration, respectively. Through experiments, the determination
The result of (A) is better and the final adoption
As a basis for the determination. This has the following:
wherein, alpha integrates the resistance, viscous force, elastic force and inertia force of the load.
Simplified model of an electric machine T-KII, where I is the motor current, KIIs the torque coefficient.
Combining the above analysis, the final simplified model is:
defining:
transformed to have:
the above equation can be used to estimate the collision, because at least one of the resistance, viscous force, elastic force, and inertial force of the load will suddenly increase when the collision occurs, and at this time, α, which integrates the resistance, viscous force, elastic force, and inertial force of the load, will increase, and γ will increase accordingly.
In actual operation, the received data is:
each equation corresponds to γ at a time instant. However, due to sensor noise, a single equation causes great noise, and to solve the problem, an optimal unbiased linear observer can be used, data of the current time and a few moments before the current time are intercepted by using a sliding window, and gamma is estimated by a least square method. The final gamma estimate is expressed mathematically as:
wherein the content of the first and second substances,
is thetaN＝[θ1、θ2……θn]TPseudo-inverse of (1)N＝[I1、I2……In]T。
Depending on the operating conditions, a threshold value γ may be settWhen gamma is greater than gammatWhen the collision occurs, it can be considered that the collision occurred.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a collision detection device is further provided, and the device is used to implement the above embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 2 is a block diagram showing the structure of a collision detecting apparatus according to an embodiment of the present invention, as shown in fig. 2, the apparatus including:
a first determining module 22, configured to determine at least one set of a load rotation angle and a motor current of the motor detected within a target time period, where the target time period is a time period that elapses from a predetermined initial detection time to a target detection time; a second determination module 24 for determining a rotation angle parameter value based on the load rotation angle detected in the target time period, and determining a current parameter value based on the motor current detected in the target time period; a third determination module 26, configured to determine that the device where the motor is located has collided at the target detection time when it is determined that the product of the rotation angle parameter value and the current parameter value is greater than a predetermined threshold value.
In an alternative embodiment, the second determining module 24 may determine the value of the rotation angle parameter by: determining a first column vector consisting of load turns detected within the target time period; determining a transpose of the first column vector as a second column vector; determining a pseudo-inverse of the second column vector as the corner parameter value.
In an alternative embodiment, the second determination module 24 may determine the current parameter value by: determining a third column vector of motor currents detected during the target time period; determining a transpose of the third column vector as the current parameter value.
In an optional embodiment, the apparatus is further configured to perform at least one of the following: acquiring the input preset threshold value; setting the predetermined threshold based on a performance parameter of a device in which the motor is located.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A collision detection method, characterized by comprising:
determining at least one group of load rotation angles and motor currents of the motor detected in a target time period, wherein the target time period is a time period from a preset initial detection time to a target detection time;
determining a rotation angle parameter value based on the load rotation angle detected within the target period of time, and determining a current parameter value based on the motor current detected within the target period of time;
and when the product of the rotation angle parameter value and the current parameter value is determined to be larger than a preset threshold value, determining that the equipment where the motor is located is collided at the target detection moment.
2. The method according to claim 1, wherein determining a rotation angle parameter value based on the load rotation angle detected within the target time period comprises:
determining a first column vector consisting of the load rotation angles detected within the target time period;
determining a transpose of the first column vector as a second column vector;
determining a pseudo-inverse of the second column vector as the corner parameter value.
3. The method of claim 1, wherein determining a current parameter value based on the motor current detected during the target time period comprises:
determining a third column vector of the motor currents detected during the target time period;
determining a transpose of the third column vector as the current parameter value.
4. The method of claim 1, further comprising one of:
acquiring the input preset threshold value;
setting the predetermined threshold based on a performance parameter of a device in which the motor is located.
5. A collision detecting apparatus, characterized by comprising:
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining at least one group of load rotation angle and motor current of a motor detected in a target time period, and the target time period is a time period from a preset initial detection time to a target detection time;
a second determination module configured to determine a rotation angle parameter value based on the load rotation angle detected in the target period, and determine a current parameter value based on the motor current detected in the target period;
and the third determination module is used for determining that the equipment where the motor is located collides at the target detection moment when the product of the rotation angle parameter value and the current parameter value is determined to be larger than a preset threshold value.
6. The apparatus of claim 5, wherein the second determining module is configured to determine the rotation angle parameter value by:
determining a first column vector consisting of the load rotation angles detected within the target time period;
determining a transpose of the first column vector as a second column vector;
determining a pseudo-inverse of the second column vector as the corner parameter value.
7. The apparatus of claim 5, wherein the second determining module is configured to determine the current parameter value by:
determining a third column vector of motor currents detected during the target time period;
determining a transpose of the third column vector as the current parameter value.
8. The apparatus of claim 5, further comprising one of:
the acquisition module is used for acquiring the input preset threshold;
and the setting module is used for setting the preset threshold value based on the performance parameter of the equipment where the motor is positioned.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 4 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 4.
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2019
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|---|---|---|---|---|
| US5719479A (en) * | 1994-08-24 | 1998-02-17 | Fanuc Ltd. | Collision detecting method |
| US20060055165A1 (en) * | 2004-09-15 | 2006-03-16 | Masanori Negoro | Vehicle control unit and vehicle |
| CN102426391A (en) * | 2011-09-05 | 2012-04-25 | 华南理工大学 | Method for determining whether there is collision during robot operation |
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