CN114347034A - Robot attitude compensation device and method - Google Patents
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- CN114347034A CN114347034A CN202210103397.1A CN202210103397A CN114347034A CN 114347034 A CN114347034 A CN 114347034A CN 202210103397 A CN202210103397 A CN 202210103397A CN 114347034 A CN114347034 A CN 114347034A
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Abstract
The application discloses a robot attitude compensation device and a method. Wherein, the device includes: the sensor is used for acquiring the chassis attitude of the robot; the controller is connected with sensor and treater for send the chassis gesture to the treater, and adjust the chassis gesture of robot according to the compensation information that the treater returns, wherein, compensation information includes: a compensation value and identification information; and the processor is used for determining compensation information according to the chassis attitude. The robot solves the technical problems that in the related art, the robot is unstable and easy to shake due to the influence of the ground environment, and the operation precision of an operation arm of the robot is easily influenced.
Description
Technical Field
The application relates to the field of robot control, in particular to a robot attitude compensation device and method.
Background
The robot horizontal attitude compensation technology is a key technology for replacing manpower based on a robot, and the robot horizontal attitude compensation technology determines that a chassis of the robot cannot completely contact the ground on the rugged ground when the robot replaces manual operation to a great extent, and a damping system of the chassis can shake to ensure the stability of the robot during operation. Therefore, the operation arm on the robot has an error due to shaking during the movement. Namely, the existing operation robot is influenced by the road environment and has larger self-shaking factors, so that the operation precision of an operation arm of the robot in the motion process is influenced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a robot posture compensation device and method, which at least solve the technical problems that in the related art, due to the influence of the ground environment, the robot is unstable and easy to shake, and the operation precision of an operation arm of the robot is easily influenced.
According to an aspect of an embodiment of the present application, there is provided a robot posture compensation apparatus including: the sensor is used for acquiring the chassis attitude of the robot; the controller is connected with sensor and treater for send the chassis gesture to the treater, and adjust the chassis gesture of robot according to the compensation information that the treater returns, wherein, compensation information includes: a compensation value and identification information; and the processor is connected with the controller and used for determining compensation information according to the attitude of the chassis and sending the compensation information to the controller.
Optionally, the chassis of the robot is provided with a plurality of sliding devices, and the plurality of sliding devices are arranged at equal intervals.
Optionally, the controller is connected to a plurality of sub-control circuits, the sub-control circuits correspond to the sliding devices one to one, and the controller is configured to determine a target sliding device corresponding to the identification information, and send the compensation value to the target sliding device through the target sub-control circuit corresponding to the target sliding device.
Optionally, each of the plurality of sliding devices is provided with a servo support rod, the servo support rod at least comprising: servo motor and push rod, wherein, the length of push rod is adjustable, and servo motor is used for adjusting the length of push rod.
Optionally, a buffer pad is connected to the outer end of the push rod, and the buffer pad is used for reducing the pushing force of the push rod to the ground and increasing the friction force between the push rod and the ground in the process that the push rod contacts the ground.
Optionally, the servo motor is connected to the servo driver, the servo driver is connected to the sub-control circuit, and the controller is further configured to send the compensation value to the servo driver through the sub-control circuit, where the servo driver is configured to drive the servo motor based on the compensation value, and adjust the length of the push rod based on a driving result of the servo motor.
Optionally, the servo motor is connected with an encoder, and the encoder is used for detecting rotation information of the servo motor, wherein the rotation information at least comprises a rotation angle and a rotation speed.
Optionally, the encoder is connected with the servo driver, and sends the rotation information to the controller through a sub-control circuit connected with the servo driver.
Optionally, the controller is connected with an alarm circuit, and the controller is further configured to determine a real-time height of the sliding device according to rotation information returned by the encoder, generate an alarm signal when the real-time height is greater than a preset threshold, and transmit the alarm signal to the alarm circuit to alarm.
Optionally, the controller is connected to a display for displaying the real-time height of the sliding device.
According to another aspect of the embodiments of the present application, there is also provided a robot posture compensation method, including: receiving a request instruction for a target robot, wherein the request instruction is used for acquiring the chassis attitude of the target robot; responding to the request instruction, controlling the sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to the processor; receiving compensation information returned by the processor, and adjusting the attitude of the chassis based on the compensation information, wherein the compensation information comprises: a compensation value, and identification information.
Optionally, the chassis is provided with a plurality of sliding devices, and the attitude of the chassis is adjusted based on the compensation information, including: determining a target sliding device corresponding to the identification information; and adjusting the height of the target sliding device based on the compensation value.
Optionally, the target sliding device is provided with a servo support rod, the servo support rod at least comprising: servo motor and push rod, wherein, the length of push rod is adjustable.
Optionally, adjusting the height of the target slide based on the compensation value comprises: determining a driving signal corresponding to the compensation value, wherein the driving signal comprises: the number of pulses; controlling a servo driver to drive a servo motor based on the number of pulses; and adjusting the length of the push rod according to the driving result of the servo driver on the servo motor.
Optionally, the servo motor is connected to an encoder, and the height of the target sliding device is adjusted based on the compensation value, and the method further includes: acquiring the reading of an encoder in real time; the real-time height of the target slide is determined from the encoder readings.
Optionally, after determining the real-time height of the target skid from the encoder readings, the method further comprises: and under the condition that the real-time height is larger than a preset threshold value, controlling the servo motor to stop rotating and generating an alarm signal.
According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute any one of the robot posture compensation methods when the program is executed.
According to another aspect of the embodiments of the present application, there is also provided a processor, configured to execute a program, where the program executes any one of the robot pose compensation methods.
In the embodiment of the application, the chassis attitude of the robot is acquired by adopting a mode of adjusting the chassis attitude by a compensation value through a sensor; the controller is connected with the sensor and the processor, the chassis posture is sent to the processor, the chassis posture of the robot is adjusted according to compensation information returned by the processor, the purpose of adjusting the horizontal posture of the chassis is achieved, the robot is stabilized, the robot is prevented from shaking, the technical effect of improving the operation precision of the operation arm is improved, and the technical problem that the operation precision of the operation arm of the robot is easily influenced due to the fact that the robot is unstable and easy to shake due to the influence of the ground environment in the correlation technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a robot attitude compensation apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of an alternative robot configuration according to an embodiment of the present disclosure;
FIG. 3 is a top plan view of a robot chassis in an alternative embodiment of the present application;
FIG. 4 is a schematic diagram of a servo support rod in an alternative embodiment of the present application;
FIG. 5 is a schematic flow chart of an alternative robot pose compensation method in an embodiment of the present application;
fig. 6 is a schematic diagram of an overall structure of an alternative robot attitude compensation apparatus according to the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is provided an embodiment of a robot pose compensation apparatus, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a robot attitude compensation apparatus according to an embodiment of the present application, and as shown in fig. 1, the apparatus includes:
the sensor 10 is used for acquiring the chassis attitude of the robot;
and the controller 20 is connected with the sensor 10 and the processor 30, and is used for sending the chassis attitude to the processor 30 and adjusting the chassis attitude of the robot according to compensation information returned by the processor 30, wherein the compensation information comprises: a compensation value and identification information;
and the processor 30 is connected with the controller 20 and used for determining compensation information according to the chassis attitude and sending the compensation information to the controller 20.
In the device, a sensor 10 is used for acquiring the chassis attitude of the robot; and the controller 20 is connected with the sensor 10 and the processor 30, and is used for sending the chassis attitude to the processor 30 and adjusting the chassis attitude of the robot according to compensation information returned by the processor 30, wherein the compensation information comprises: a compensation value and identification information; the processor 30 is connected with the controller 20 and used for determining compensation information according to the attitude of the chassis and sending the compensation information to the controller 20, so that the purpose of adjusting the horizontal attitude of the chassis is achieved, the robot is stabilized, the robot is prevented from shaking, the technical effect of improving the operation precision of the operation arm is achieved, and the technical problem that the operation precision of the operation arm of the robot is easily influenced due to the fact that the robot is unstable and easy to shake due to the influence of the ground environment in the related art is solved.
In some embodiments of the present application, a chassis of the robot is provided with a plurality of sliding devices, and the plurality of sliding devices are arranged at equal intervals.
In some optional embodiments of the present application, the controller is connected to a plurality of sub-control circuits, the sub-control circuits correspond to the sliding devices one to one, and the controller is configured to determine a target sliding device corresponding to the identification information, and send the compensation value to the target sliding device through the target sub-control circuit corresponding to the target sliding device.
In some embodiments of the present application, each of the plurality of slides is provided with a servo support rod, the servo support rod at least comprising: servo motor and push rod, wherein, the length of push rod is adjustable, and servo motor is used for adjusting the length of push rod.
It should be noted that, the outer end of the push rod can be connected with a buffer pad, and the buffer pad is used for reducing the push force of the push rod to the ground and increasing the friction force between the push rod and the ground in the process that the push rod contacts the ground.
In some embodiments of the present application, the servo motor is connected with the servo driver, the servo driver is connected with the sub-control circuit, the controller is further configured to send the compensation value to the servo driver through the sub-control circuit, and the servo driver is configured to drive the servo motor based on the compensation value, and adjust the length of the push rod based on a driving result of the servo motor.
In some optional embodiments of the present application, an encoder is connected to the servo motor, and the encoder is configured to detect rotation information of the servo motor, where the rotation information at least includes a rotation angle and a rotation speed.
The encoder is connected to the servo driver, and transmits the rotation information to the controller through a sub-control circuit connected to the servo driver.
In some embodiments of the present application, the controller is connected to the alarm circuit, and the controller is further configured to determine a real-time height of the sliding device according to the rotation information returned by the encoder, generate an alarm signal when the real-time height is greater than a preset threshold, and transmit the alarm signal to the alarm circuit to alarm.
In some alternative embodiments of the present application, the controller is coupled to a display for displaying the real-time height of the sliding device.
Fig. 2 is a schematic structural diagram of an alternative robot according to an embodiment of the present disclosure, and as shown in fig. 2, the robot includes: an operating arm 01 and a robot chassis 02.
Fig. 3 is a plan top view of the robot chassis 02, which is provided with four slides A, B, C, D, each slide being provided with a servo support rod 03, as can be seen from fig. 2.
Fig. 4 is a schematic structural diagram of the servo support rod 03, as shown in fig. 4, which includes: servo motor 031, push rod 032 and blotter 033, wherein, blotter 033 is connected in the top of push rod 032, and servo motor 031 is used for driving push rod 032 to stretch out or contract to change the length that push rod 032 outwards stretches out.
Fig. 5 is an alternative robot attitude compensation method in the embodiment of the present application, and as shown in fig. 5, the method includes:
s502, receiving a request instruction for the target robot, wherein the request instruction is used for acquiring the chassis attitude of the target robot;
s504, responding to the request instruction, controlling the sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to the processor;
s506, receiving compensation information returned by the processor, and adjusting the chassis attitude based on the compensation information, wherein the compensation information comprises: a compensation value, and identification information.
In the robot attitude compensation method, a request instruction for a target robot is received, wherein the request instruction is used for acquiring the chassis attitude of the target robot; responding to the request instruction, controlling the sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to the processor; receiving compensation information returned by the processor, and adjusting the attitude of the chassis based on the compensation information, wherein the compensation information comprises: compensation value and identification information have reached the purpose of adjustment chassis horizontal gesture to realized stabilizing the robot, avoided the robot to rock, and then improved the technical effect of the operation precision of operation arm, and then solved because in the correlation technique because the robot self that ground environment influences and causes is unstable, easily rocks, the operation precision technical problem of the operation arm of easy influence robot.
Optionally, the chassis is provided with a plurality of sliding devices, and the attitude of the chassis is adjusted based on the compensation information, including: determining a target sliding device corresponding to the identification information; and adjusting the height of the target sliding device based on the compensation value.
It should be noted that, the target sliding device is provided with a servo support rod, and the servo support rod at least includes: servo motor and push rod, wherein, the length of push rod is adjustable.
In some optional embodiments of the present application, adjusting the height of the target sliding device based on the compensation value includes: determining a driving signal corresponding to the compensation value, wherein the driving signal comprises: the number of pulses; controlling a servo driver to drive a servo motor based on the number of pulses; and adjusting the length of the push rod according to the driving result of the servo driver on the servo motor.
In some embodiments of the present application, the servo motor is connected to an encoder, and the height of the target sliding device is adjusted based on the compensation value, and the method further includes: acquiring the reading of an encoder in real time; the real-time height of the target slide is determined from the encoder readings.
In some optional embodiments of the present application, after determining the real-time height of the target slide from the encoder reading, the method further comprises: and under the condition that the real-time height is larger than a preset threshold value, controlling the servo motor to stop rotating and generating an alarm signal.
In an exemplary embodiment of the present application, a robot horizontal attitude compensation system may be composed of a manipulator, a robot chassis, a servo support rod, a horizontal sensor, and a controller. The servo support rod is composed of a servo motor, a push rod and a buffer pad. When the robot operates through the operating arm, the robot sends a command to the controller, and the controller acquires the posture of the chassis of the robot through the horizontal sensor. And sending the attitude to a processor, calculating by the processor to obtain a compensation value, and sending the compensation value to a controller, and respectively sending data to the ABCD four-point servo support rod through the controller. The supporting rod gives the servo motor the corresponding pulse number through the servo driver, the motor gives the servo driver through the absolute value encoder, and the servo driver gives a position feedback numerical value to the controller again. The controller calculates the horizontal attitude of the robot in real time by calculating the feedback number of the motor and the attitude of the horizontal sensor through the processor, so that a closed-loop system for compensating the horizontal attitude of the robot is realized.
Fig. 6 is a schematic diagram of an overall structure of an alternative robot attitude compensation apparatus according to the present application, and as shown in fig. 6, the structure includes: the controller is connected with four servo drivers to respectively drive the four motors.
According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute any one of the robot posture compensation methods when the program is executed.
According to another aspect of the embodiments of the present application, there is also provided a processor, configured to execute a program, where the program executes any one of the robot pose compensation methods.
Specifically, the storage medium is used for storing program instructions for executing the following functions, and the following functions are realized:
receiving a request instruction for a target robot, wherein the request instruction is used for acquiring the chassis attitude of the target robot; responding to the request instruction, controlling the sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to the processor; receiving compensation information returned by the processor, and adjusting the attitude of the chassis based on the compensation information, wherein the compensation information comprises: a compensation value, and identification information.
Specifically, the processor is configured to call a program instruction in the memory, and implement the following functions:
receiving a request instruction for a target robot, wherein the request instruction is used for acquiring the chassis attitude of the target robot; responding to the request instruction, controlling the sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to the processor; receiving compensation information returned by the processor, and adjusting the attitude of the chassis based on the compensation information, wherein the compensation information comprises: a compensation value, and identification information.
In the embodiment of the application, the chassis attitude of the robot is acquired by adopting a mode of adjusting the chassis attitude by a compensation value through a sensor; the controller is connected with the sensor and the processor, the chassis posture is sent to the processor, the chassis posture of the robot is adjusted according to compensation information returned by the processor, the purpose of adjusting the horizontal posture of the chassis is achieved, the robot is stabilized, the robot is prevented from shaking, the technical effect of improving the operation precision of the operation arm is improved, and the technical problem that the operation precision of the operation arm of the robot is easily influenced due to the fact that the robot is unstable and easy to shake due to the influence of the ground environment in the correlation technology is solved.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (18)
1. A robot posture compensation device, comprising:
the sensor is used for acquiring the chassis attitude of the robot;
the controller is connected with the sensor and the processor and used for sending the chassis attitude to the processor and adjusting the chassis attitude of the robot according to compensation information returned by the processor, wherein the compensation information comprises: a compensation value and identification information;
and the processor is connected with the controller and used for determining compensation information according to the attitude of the chassis and sending the compensation information to the controller.
2. The device of claim 1, wherein the chassis of the robot is provided with a plurality of sliding devices, and the plurality of sliding devices are arranged at equal intervals.
3. The apparatus of claim 2, wherein the controller is connected to a plurality of sub-control circuits, the sub-control circuits are in one-to-one correspondence with the sliding devices, and the controller is configured to determine a target sliding device corresponding to the identification information and send the compensation value to the target sliding device through the target sub-control circuit corresponding to the target sliding device.
4. The apparatus of claim 3, wherein each of the plurality of slides is provided with a servo support rod comprising at least: servo motor and push rod, wherein, the length of push rod is adjustable, servo motor is used for adjusting the length of push rod.
5. The device of claim 4, wherein a buffer pad is connected to an outer end of the push rod, and the buffer pad is used for reducing the pushing force of the push rod to the ground and increasing the friction force of the push rod and the ground during the contact of the push rod with the ground.
6. The apparatus of claim 4, wherein the servo motor is connected to a servo driver, the servo driver is connected to the sub-control circuit, and the controller is further configured to send the compensation value to the servo driver through the sub-control circuit, and the servo driver is configured to drive the servo motor based on the compensation value and adjust the length of the push rod based on a driving result of the servo motor.
7. The device as claimed in claim 4, wherein an encoder is connected to the servo motor, and the encoder is used for detecting rotation information of the servo motor, wherein the rotation information at least comprises a rotation angle and a rotation speed.
8. The apparatus of claim 7, wherein the encoder is coupled to the servo driver and transmits the rotational information to the controller via a sub-control circuit coupled to the servo driver.
9. The device of claim 7, wherein the controller is connected to an alarm circuit, and the controller is further configured to determine a real-time height of the sliding device according to the rotation information returned by the encoder, and generate an alarm signal and transmit the alarm signal to the alarm circuit to alarm when the real-time height is greater than a preset threshold.
10. The device of claim 9, wherein the controller is coupled to a display for displaying a real-time height of the sliding device.
11. A robot pose compensation method, comprising:
receiving a request instruction for a target robot, wherein the request instruction is used for acquiring the chassis attitude of the target robot;
responding to the request instruction, controlling a sensor to acquire the chassis attitude of the target robot, and sending the chassis attitude to a processor;
receiving compensation information returned by the processor, and adjusting the chassis attitude based on the compensation information, wherein the compensation information comprises: a compensation value, and identification information.
12. The method of claim 11, wherein the chassis is provided with a plurality of slides, and adjusting the chassis attitude based on the compensation information comprises:
determining a target sliding device corresponding to the identification information;
adjusting a height of the target slide based on the compensation value.
13. The method of claim 12, wherein the target slide is provided with a servo support bar, the servo support bar comprising at least: servo motor and push rod, wherein, the length of push rod is adjustable.
14. The method of claim 13, wherein adjusting the height of the target slide based on the compensation value comprises:
determining a driving signal corresponding to the compensation value, wherein the driving signal comprises: the number of pulses;
controlling a servo driver to drive the servo motor based on the pulse number;
and adjusting the length of the push rod according to the driving result of the servo driver on the servo motor.
15. The method of claim 13, wherein an encoder is coupled to the servo motor to adjust a height of the target slide based on the compensation value, the method further comprising:
acquiring readings of the encoder in real time;
determining a real-time height of the target sled based on the encoder readings.
16. The method of claim 15, wherein after determining the real-time height of the target sled from the encoder readings, the method further comprises:
and under the condition that the real-time height is larger than a preset threshold value, controlling the servo motor to stop rotating and generating an alarm signal.
17. A non-volatile storage medium, comprising a stored program, wherein the program, when executed, controls a device on which the non-volatile storage medium is located to perform the robot pose compensation method of any one of claims 11 to 16.
18. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the robot pose compensation method of any one of claims 11 to 16 when running.
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| CN111456380A (en) * | 2020-03-11 | 2020-07-28 | 广东博智林机器人有限公司 | Plastering equipment, plastering robot and error compensation method |
| CN111645478A (en) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN111993427A (en) * | 2020-09-03 | 2020-11-27 | 湖南大学 | Self-stability-increasing control method, device, terminal, system and readable storage medium for aerial work robot |
| CN217703427U (en) * | 2022-01-27 | 2022-11-01 | 北京华商三优新能源科技有限公司 | Robot attitude compensation device |
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