CN114347034A - Robot attitude compensation device and method - Google Patents
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Abstract
本申请公开了一种机器人姿态补偿装置以及方法。其中,该装置包括:传感器,用于采集机器人的底盘姿态;控制器,与传感器以及处理器连接,用于将底盘姿态发送至处理器,并根据处理器返回的补偿信息对机器人的底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息;处理器,用于根据底盘姿态确定补偿信息。本申请解决了由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度的技术问题。
The present application discloses a robot attitude compensation device and method. The device includes: a sensor for collecting the chassis posture of the robot; a controller, connected with the sensor and the processor, for sending the chassis posture to the processor, and performing the robot's chassis posture according to the compensation information returned by the processor adjustment, wherein the compensation information includes: a compensation value and identification information; a processor is used to determine the compensation information according to the chassis attitude. The present application solves the technical problem that the robot itself is unstable and easy to shake due to the influence of the ground environment in the related art, which easily affects the operation accuracy of the operating arm of the robot.
Description
技术领域technical field
本申请涉及机器人控制领域,具体而言,涉及一种机器人姿态补偿装置以及方法。The present application relates to the field of robot control, and in particular, to a robot attitude compensation device and method.
背景技术Background technique
机器人水平姿态补偿技术是建设基于机器人替代人工的一个关键技术,机器人水平姿态补偿技术很大程度上决定了机器人替代人工操作作业时,机器人底盘在崎岖地面不能百分之百接触地面,且底盘自身减震系统会产生晃动,不能保障机器人在操作作业时的稳定性。因此,机器人上的操作臂在运动过程中会因晃动而出现误差。即现操作机器人受路面环境影响以及自身晃动因素比较大,影响机器人的操作臂在运动过程中的操作精度。The robot horizontal attitude compensation technology is a key technology based on the replacement of labor by robots. The robot horizontal attitude compensation technology largely determines that when the robot replaces manual operation, the robot chassis cannot touch the ground 100% on rough ground, and the chassis itself has a shock absorption system. Shaking will occur, and the stability of the robot during operation cannot be guaranteed. Therefore, the manipulator on the robot will have errors due to shaking during the movement. That is, the current operating robot is affected by the road environment and its own shaking factors are relatively large, which affects the operating accuracy of the robot's operating arm during the movement process.
针对上述的问题,目前尚未提出有效的解决方案。For the above problems, no effective solution has been proposed yet.
发明内容SUMMARY OF THE INVENTION
本申请实施例提供了一种机器人姿态补偿装置以及方法,以至少解决由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度的技术问题。The embodiments of the present application provide a robot attitude compensation device and method to at least solve the technical problem in the related art that the robot itself is unstable and easy to shake due to the influence of the ground environment, which easily affects the operation accuracy of the robot's operating arm.
根据本申请实施例的一个方面,提供了一种机器人姿态补偿装置,包括:传感器,用于采集机器人的底盘姿态;控制器,与传感器以及处理器连接,用于将底盘姿态发送至处理器,并根据处理器返回的补偿信息对机器人的底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息;处理器,与控制器连接,用于根据底盘姿态确定补偿信息,并将补偿信息发送至控制器。According to an aspect of the embodiments of the present application, a robot attitude compensation device is provided, including: a sensor for collecting the chassis attitude of the robot; a controller, connected with the sensor and the processor, for sending the chassis attitude to the processor, and adjust the chassis posture of the robot according to the compensation information returned by the processor, wherein the compensation information includes: compensation value and identification information; the processor is connected to the controller and is used to determine the compensation information according to the chassis posture, and send the compensation information to the controller.
可选地,机器人的底盘设置有多个滑动装置,多个滑动装置之间呈等间距排布。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.
可选地,控制器与多个子控制电路连接,子控制电路与滑动装置一一对应,控制器用于确定标识信息对应的目标滑动装置,并通过目标滑动装置对应的目标子控制电路将补偿值发送至目标滑动装置。Optionally, the controller is connected with a plurality of sub-control circuits, and the sub-control circuits are in one-to-one correspondence with the sliding devices. The controller is used to determine the target sliding device corresponding to the identification information, and send the compensation value through the target sub-control circuit corresponding to the target sliding device. to the target slider.
可选地,多个滑动装置中的每个滑动装置均设置有伺服支撑杆,伺服支撑杆,至少包括:伺服电机与推杆,其中,推杆的长度可调节,伺服电机用于调节推杆的长度。Optionally, each of the plurality of sliding devices is provided with a servo support rod, and the servo support rod at least includes: a servo motor and a push rod, wherein the length of the push rod is adjustable, and the servo motor is used to adjust the push rod. length.
可选地,推杆的外端连接有缓冲垫,缓冲垫用于在推杆在接触地面的过程中,减少推杆向地面的推力,并增加推杆与地面的摩擦力。Optionally, a buffer pad is connected to the outer end of the push rod, and the buffer pad is used to reduce the thrust of the push rod to the ground and increase the friction force between the push rod and the ground when the push rod is in contact with the ground.
可选地,伺服电机与伺服驱动器连接,伺服驱动器与子控制电路连接,控制器还用于通过子控制电路将补偿值发送至伺服驱动器,伺服驱动器用于基于补偿值驱动伺服电机,并基于对伺服电机的驱动结果调整推杆的长度。Optionally, the servo motor is connected with the servo driver, the servo driver is connected with the sub-control circuit, the controller is also used for sending the compensation value to the servo driver through the sub-control circuit, the servo driver is used for driving the servo motor based on the compensation value, and based on the compensation value. The drive result of the servo motor adjusts the length of the push rod.
可选地,伺服电机连接有编码器,编码器用于检测伺服电机的转动信息,其中,转动信息至少包括:转角以及转速。Optionally, the servo motor is connected with an encoder, and the encoder is used to detect the rotation information of the servo motor, wherein the rotation information at least includes: a rotation angle and a rotational speed.
可选地,编码器与伺服驱动器连接,并通过伺服驱动器连接的子控制电路,将转动信息发送至控制器。Optionally, the encoder is connected to the servo drive, and the rotation information is sent to the controller through the sub-control circuit connected to the servo drive.
可选地,控制器与报警电路连接,控制器还用于根据编码器返回的转动信息确定滑动装置的实时高度,在实时高度大于预设阈值的情况下,生成报警信号,并将报警信号传输至报警电路进行报警。Optionally, the controller is connected to the alarm circuit, and the controller is also used to determine the real-time height of the sliding device according to the rotation information returned by the encoder, and when the real-time height is greater than a preset threshold, generate an alarm signal, and transmit the alarm signal. to the alarm circuit for alarming.
可选地,控制器与显示器连接,用于显示滑动装置的实时高度。Optionally, the controller is connected to a display for displaying the real-time height of the sliding device.
根据本申请实施例的另一方面,还提供了一种机器人姿态补偿方法,包括:接收对目标机器人的请求指令,其中,请求指令用于获取目标机器人的底盘姿态;响应请求指令,控制传感器采集目标机器人的底盘姿态,将底盘姿态发送至处理器;接收处理器返回的补偿信息,基于补偿信息对底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息。According to another aspect of the embodiments of the present application, a method for compensating a robot posture is also provided, which includes: receiving a request instruction for a target robot, wherein the request instruction is used to obtain the chassis posture of the target robot; in response to the request instruction, controlling a sensor to collect The chassis posture of the target robot is sent to the processor; the compensation information returned by the processor is received, and the chassis posture is adjusted based on the compensation information, wherein the compensation information includes: compensation value and identification information.
可选地,底盘设置有多个滑动装置,基于补偿信息对底盘姿态进行调整,包括:确定标识信息对应的目标滑动装置;基于补偿值对目标滑动装置的高度进行调节。Optionally, the chassis is provided with a plurality of sliding devices, and adjusting the posture of the chassis based on the compensation information includes: determining a target sliding device corresponding to the identification information; and adjusting the height of the target sliding device based on the compensation value.
可选地,目标滑动装置设置有伺服支撑杆,伺服支撑杆,至少包括:伺服电机与推杆,其中,推杆的长度可调节。Optionally, the target sliding device is provided with a servo support rod, the servo support rod at least includes a servo motor and a push rod, wherein the length of the push rod is adjustable.
可选地,基于补偿值对目标滑动装置的高度进行调节,包括:确定补偿值对应的驱动信号,其中,驱动信号包括:脉冲数;控制伺服驱动器基于脉冲数驱动伺服电机;根据伺服驱动器对伺服电机的驱动结果调整推杆的长度。Optionally, adjusting the height of the target sliding device based on the compensation value includes: determining a drive signal corresponding to the compensation value, wherein the drive signal includes: the number of pulses; controlling the servo driver to drive the servo motor based on the number of pulses; The driving result of the motor adjusts the length of the push rod.
可选地,伺服电机连接有编码器,基于补偿值对目标滑动装置的高度进行调节,方法还包括:实时获取编码器的读数;根据编码器的读数确定目标滑动装置的实时高度。Optionally, an encoder is connected to the servo motor, and the height of the target sliding device is adjusted based on the compensation value. The method further includes: acquiring the reading of the encoder in real time; and determining the real-time height of the target sliding device according to the reading of the encoder.
可选地,在根据编码器的读数确定目标滑动装置的实时高度之后,方法还包括:在实时高度大于预设阈值的情况下,控制伺服电机停止转动,并生成报警信号。Optionally, after determining the real-time height of the target sliding device according to the reading of the encoder, the method further includes: when the real-time height is greater than a preset threshold, controlling the servo motor to stop rotating and generating an alarm signal.
根据本申请实施例的另一方面,还提供了一种非易失性存储介质,非易失性存储介质包括存储的程序,其中,在程序运行时控制非易失性存储介质所在设备执行任意一种机器人姿态补偿方法。According to another aspect of the embodiments of the present application, a non-volatile storage medium is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program. A robot attitude compensation method.
根据本申请实施例的另一方面,还提供了一种处理器,处理器用于运行程序,其中,程序运行时执行任意一种机器人姿态补偿方法。According to another aspect of the embodiments of the present application, a processor is also provided, and the processor is used for running a program, wherein any one of the robot attitude compensation methods is executed when the program is running.
在本申请实施例中,采用补偿值对底盘姿态进行调整的方式,通过传感器,用于采集机器人的底盘姿态;控制器,与传感器以及处理器连接,将底盘姿态发送至处理器,并根据处理器返回的补偿信息对机器人的底盘姿态进行调整,达到了调整底盘水平姿态的目的,从而实现了稳定机器人,避免机器人晃动,进而提高操作臂的操作精度的技术效果,进而解决了由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度技术问题。In the embodiment of the present application, the compensation value is used to adjust the chassis posture, and the sensor is used to collect the chassis posture of the robot; the controller is connected with the sensor and the processor, and sends the chassis posture to the processor, and according to the processing The compensation information returned by the controller adjusts the chassis posture of the robot, and achieves the purpose of adjusting the horizontal posture of the chassis, thereby realizing the technical effect of stabilizing the robot, avoiding the shaking of the robot, and improving the operation accuracy of the manipulator, thereby solving the problem of the related technology. Due to the influence of the ground environment, the robot itself is unstable and easy to shake, which easily affects the technical problems of the operation accuracy of the robot's operating arm.
附图说明Description of drawings
此处所说明的附图用来提供对本申请的进一步理解,构成本申请的一部分,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。在附图中:The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:
图1是根据本申请实施例的机器人姿态补偿装置的结构示意图;1 is a schematic structural diagram of a robot posture compensation device according to an embodiment of the present application;
图2为本申请实施例一种可选的机器人结构示意图;FIG. 2 is a schematic structural diagram of an optional robot according to an embodiment of the present application;
图3是本申请实施例一种可选实施例中机器人底盘的平面俯视图;3 is a top plan view of a robot chassis in an optional embodiment of the embodiment of the present application;
图4是本申请实施例一种可选实施例中伺服支撑杆的结构示意图;4 is a schematic structural diagram of a servo support rod in an optional embodiment of the embodiment of the present application;
图5是本申请实施例中一种可选的机器人姿态补偿方法的流程示意图;5 is a schematic flowchart of an optional robot attitude compensation method in an embodiment of the present application;
图6是本申请一种可选的机器人姿态补偿装置的整体结构示意图。FIG. 6 is a schematic diagram of the overall structure of an optional robot attitude compensation device of the present application.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分的实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都应当属于本申请保护的范围。In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.
需要说明的是,本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.
根据本申请实施例,提供了一种机器人姿态补偿装置的实施例,需要说明的是,在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行,并且,虽然在流程图中示出了逻辑顺序,但是在某些情况下,可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present application, an embodiment of a robot attitude compensation device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and, Although a logical order is shown in the flowcharts, in some cases steps shown or described may be performed in an order different from that herein.
图1是根据本申请实施例的机器人姿态补偿装置,如图1所示,该装置包括:FIG. 1 is a robot posture compensation device according to an embodiment of the present application. As shown in FIG. 1 , the device includes:
传感器10,用于采集机器人的底盘姿态;The
控制器20,与传感器10以及处理器30连接,用于将底盘姿态发送至处理器30,并根据处理器30返回的补偿信息对机器人的底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息;The
处理器30,与控制器20连接,用于根据底盘姿态确定补偿信息,并将该补偿信息发送至控制器20。The
该装置中,传感器10,用于采集机器人的底盘姿态;控制器20,与传感器10以及处理器30连接,用于将底盘姿态发送至处理器30,并根据处理器30返回的补偿信息对机器人的底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息;处理器30,与控制器20连接,用于根据底盘姿态确定补偿信息,并将该补偿信息发送至控制器20,达到了调整底盘水平姿态的目的,从而实现了稳定机器人,避免机器人晃动,进而提高操作臂的操作精度的技术效果,进而解决了由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度技术问题。In the device, the
本申请一些实施例中,机器人的底盘设置有多个滑动装置,多个滑动装置之间呈等间距排布。In some embodiments of the present application, the chassis of the robot is provided with a plurality of sliding devices, and the plurality of sliding devices are arranged at equal intervals.
本申请一些可选的实施例中,控制器与多个子控制电路连接,子控制电路与滑动装置一一对应,控制器用于确定标识信息对应的目标滑动装置,并通过目标滑动装置对应的目标子控制电路将补偿值发送至目标滑动装置。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, the controller is used to determine the target sliding device corresponding to the identification information, and the target sliding device corresponding to the target sliding device The control circuit sends the compensation value to the target slider.
在本申请一些实施例中,多个滑动装置中的每个滑动装置均设置有伺服支撑杆,伺服支撑杆,至少包括:伺服电机与推杆,其中,推杆的长度可调节,伺服电机用于调节推杆的长度。In some embodiments of the present application, each of the plurality of sliding devices is provided with a servo support rod, and the servo support rod at least includes a servo motor and a push rod, wherein the length of the push rod is adjustable, and the servo motor uses To adjust the length of the push rod.
需要说明的是,推杆的外端可连接缓冲垫,缓冲垫用于在推杆在接触地面的过程中,减少推杆向地面的推力,并增加推杆与地面的摩擦力。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 to reduce the thrust of the push rod to the ground and increase the friction between the push rod and the ground when the push rod is in contact with the ground.
本申请一些实施例中,伺服电机与伺服驱动器连接,伺服驱动器与子控制电路连接,控制器还用于通过子控制电路将补偿值发送至伺服驱动器,伺服驱动器用于基于补偿值驱动伺服电机,并基于对伺服电机的驱动结果调整推杆的长度。In some embodiments of the present application, the servo motor is connected to the servo driver, the servo driver is connected to 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 the driving result of the servo motor.
本申请一些可选的实施例中,伺服电机连接有编码器,编码器用于检测伺服电机的转动信息,其中,转动信息至少包括:转角以及转速。In some optional embodiments of the present application, the servo motor is connected with an encoder, and the encoder is used to detect rotation information of the servo motor, wherein the rotation information at least includes: a rotation angle and a rotational speed.
需要说明的是,编码器与伺服驱动器连接,并通过伺服驱动器连接的子控制电路,将转动信息发送至控制器。It should be noted that the encoder is connected to the servo drive, and the rotation information is sent to the controller through the sub-control circuit connected to the servo drive.
本申请一些实施例中,控制器与报警电路连接,控制器还用于根据编码器返回的转动信息确定滑动装置的实时高度,在实时高度大于预设阈值的情况下,生成报警信号,并将报警信号传输至报警电路进行报警。In some embodiments of the present application, the controller is connected to the alarm circuit, and the controller is further configured to determine the real-time height of the sliding device according to the rotation information returned by the encoder, and when the real-time height is greater than a preset threshold, generate an alarm signal, and send the The alarm signal is transmitted to the alarm circuit for alarming.
本申请一些可选的实施例中,控制器与显示器连接,用于显示滑动装置的实时高度。In some optional embodiments of the present application, the controller is connected to the display for displaying the real-time height of the sliding device.
图2为本申请实施例一种可选的机器人结构示意图,如图2所示,该机器人包括:操作臂01以及机器人底盘02。FIG. 2 is a schematic structural diagram of an optional robot according to an embodiment of the present application. As shown in FIG. 2 , the robot includes an
图3是该机器人底盘02的平面俯视图,从图2可以看出,该底盘设置有四个滑动装置A、B、C、D,且每个滑动装置设置有伺服支撑杆03。FIG. 3 is a top plan view of the
图4是伺服支撑杆03的结构示意图,如图4所示,其包括:伺服电机031、推杆032、以及缓冲垫033,其中,缓冲垫033连接在推杆032的上方,伺服电机031用于驱动推杆032伸出或者收缩,以改变推杆032向外伸出的长度。FIG. 4 is a schematic structural diagram of the
图5是本申请实施例中一种可选的机器人姿态补偿方法,如图5所示,该方法包括:FIG. 5 is an optional robot attitude compensation method in the embodiment of the present application. As shown in FIG. 5 , the method includes:
S502,接收对目标机器人的请求指令,其中,请求指令用于获取目标机器人的底盘姿态;S502, receiving a request instruction for the target robot, wherein the request instruction is used to obtain the chassis posture of the target robot;
S504,响应请求指令,控制传感器采集目标机器人的底盘姿态,将底盘姿态发送至处理器;S504, in response to the request instruction, control the sensor to collect the chassis posture of the target robot, and send the chassis posture to the processor;
S506,接收处理器返回的补偿信息,基于补偿信息对底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息。S506: Receive the compensation information returned by the processor, and adjust the chassis posture based on the compensation information, where the compensation information includes: a compensation value and identification information.
该机器人姿态补偿方法中,通过接收对目标机器人的请求指令,其中,请求指令用于获取目标机器人的底盘姿态;响应请求指令,控制传感器采集目标机器人的底盘姿态,将底盘姿态发送至处理器;接收处理器返回的补偿信息,基于补偿信息对底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息,达到了调整底盘水平姿态的目的,从而实现了稳定机器人,避免机器人晃动,进而提高操作臂的操作精度的技术效果,进而解决了由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度技术问题。In the robot attitude compensation method, a request instruction for the target robot is received, wherein the request instruction is used to obtain the chassis attitude of the target robot; in response to the request instruction, the sensor is controlled to collect the chassis attitude of the target robot, and the chassis attitude is sent to the processor; Receive the compensation information returned by the processor, and adjust the chassis posture based on the compensation information, wherein the compensation information includes: compensation value and identification information, which achieves the purpose of adjusting the horizontal posture of the chassis, thereby stabilizing the robot, avoiding the robot shaking, and improving the The technical effect of the operation accuracy of the manipulator arm further solves the technical problem that the robot itself is unstable and easy to shake due to the influence of the ground environment in the related art, which easily affects the operation accuracy of the manipulator arm of the robot.
可选地,底盘设置有多个滑动装置,基于补偿信息对底盘姿态进行调整,包括:确定标识信息对应的目标滑动装置;基于补偿值对目标滑动装置的高度进行调节。Optionally, the chassis is provided with a plurality of sliding devices, and adjusting the posture of the chassis based on the compensation information includes: determining a target sliding device corresponding to the identification information; and adjusting the height of the target sliding device based on the compensation value.
需要说明的是,目标滑动装置设置有伺服支撑杆,伺服支撑杆,至少包括:伺服电机与推杆,其中,推杆的长度可调节。It should be noted that the target sliding device is provided with a servo support rod, and the servo support rod at least includes a servo motor and a push rod, wherein the length of the push rod is adjustable.
本申请一些可选的实施例中,基于补偿值对目标滑动装置的高度进行调节,包括:确定补偿值对应的驱动信号,其中,驱动信号包括:脉冲数;控制伺服驱动器基于脉冲数驱动伺服电机;根据伺服驱动器对伺服电机的驱动结果调整推杆的长度。In some optional embodiments of the present application, adjusting the height of the target sliding device based on the compensation value includes: determining a drive signal corresponding to the compensation value, wherein the drive signal includes: the number of pulses; controlling the servo driver to drive the servo motor based on the number of pulses ;Adjust the length of the push rod according to the driving result of the servo drive to the servo motor.
本申请一些实施例中,伺服电机连接有编码器,基于补偿值对目标滑动装置的高度进行调节,方法还包括:实时获取编码器的读数;根据编码器的读数确定目标滑动装置的实时高度。In some embodiments of the present application, the servo motor is connected with an encoder, and the height of the target sliding device is adjusted based on the compensation value. The method further includes: acquiring the reading of the encoder in real time; and determining the real-time height of the target sliding device according to the reading of the encoder.
本申请一些可选的实施例中,在根据编码器的读数确定目标滑动装置的实时高度之后,方法还包括:在实时高度大于预设阈值的情况下,控制伺服电机停止转动,并生成报警信号。In some optional embodiments of the present application, after determining the real-time height of the target sliding device according to the reading of the encoder, the method further includes: when the real-time height is greater than a preset threshold, controlling the servo motor to stop rotating and generating an alarm signal .
在本申请一示例性实施例中,可由操作臂、机器人底盘、伺服支撑杆、水平传感器和控制器组成机器人水平姿态补偿系统。伺服支撑杆由伺服电机、推杆和缓冲垫组成。机器人在通过操作臂进行操作作业时,机器人给控制器发命令,控制器通过水平传感器采集机器人底盘所处的姿态。将该姿态发送至处理器,经处理器计算后得到补偿值,给控制器,通过控制器分别给图ABCD四点伺服支撑杆数据。支撑杆通过伺服驱动器给伺服电机相应脉冲数,电机通过绝对值编码器给伺服驱动器,伺服驱动器再给控制器一个位置反馈数值。控制器通过处理器计算电机反馈数字与水平传感器的姿态进行计算实时补偿机器人水平姿态,实现机器人水平姿态补偿闭环系统。In an exemplary embodiment of the present application, a robot horizontal posture compensation system may be composed of an operating arm, a robot chassis, a servo support rod, a level sensor and a controller. The servo support rod consists of a servo motor, a push rod and a buffer pad. When the robot operates through the operating arm, the robot sends commands to the controller, and the controller collects the posture of the robot chassis through the level sensor. The attitude is sent to the processor, and the compensation value is obtained after calculation by the processor, which is sent to the controller, and the four-point servo support rod data of Fig. The support rod sends the corresponding pulse number to the servo motor through the servo driver, the motor sends the servo driver through the absolute value encoder, and the servo driver gives a position feedback value to the controller. The controller calculates the motor feedback number and the attitude of the level sensor through the processor to compensate the robot's horizontal attitude in real time, and realizes the closed-loop system of the robot's horizontal attitude compensation.
图6是本申请一种可选的机器人姿态补偿装置的整体结构示意图,如图6所示,该结构包括:存储器,处理器,控制器,以及水平传感器,且处理器、控制器可与外部设备通信,控制器,连接有四个伺服驱动器,分别驱动四个电机。FIG. 6 is a schematic diagram of the overall structure of an optional robot attitude compensation device of the present application. As shown in FIG. 6 , the structure includes: a memory, a processor, a controller, and a level sensor, and the processor and the controller can communicate with external The device communication, controller, is connected with four servo drives, which drive four motors respectively.
根据本申请实施例的另一方面,还提供了一种非易失性存储介质,非易失性存储介质包括存储的程序,其中,在程序运行时控制非易失性存储介质所在设备执行任意一种机器人姿态补偿方法。According to another aspect of the embodiments of the present application, a non-volatile storage medium is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program. A robot attitude compensation method.
根据本申请实施例的另一方面,还提供了一种处理器,处理器用于运行程序,其中,程序运行时执行任意一种机器人姿态补偿方法。According to another aspect of the embodiments of the present application, a processor is also provided, and the processor is used for running a program, wherein any one of the robot attitude compensation methods is executed when the program is running.
具体地,上述存储介质用于存储执行以下功能的程序指令,实现以下功能:Specifically, the above-mentioned storage medium is used to store program instructions that perform the following functions, and realize the following functions:
接收对目标机器人的请求指令,其中,请求指令用于获取目标机器人的底盘姿态;响应请求指令,控制传感器采集目标机器人的底盘姿态,将底盘姿态发送至处理器;接收处理器返回的补偿信息,基于补偿信息对底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息。Receive a request command for the target robot, where the request command is used to obtain the chassis posture of the target robot; in response to the request command, control the sensor to collect the chassis posture of the target robot, and send the chassis posture to the processor; receive the compensation information returned by the processor, The attitude of the chassis is adjusted based on the compensation information, wherein the compensation information includes: a compensation value and identification information.
具体地,上述处理器用于调用存储器中的程序指令,实现以下功能:Specifically, the above-mentioned processor is used to call the program instructions in the memory to realize the following functions:
接收对目标机器人的请求指令,其中,请求指令用于获取目标机器人的底盘姿态;响应请求指令,控制传感器采集目标机器人的底盘姿态,将底盘姿态发送至处理器;接收处理器返回的补偿信息,基于补偿信息对底盘姿态进行调整,其中,补偿信息包括:补偿值以及标识信息。Receive a request command for the target robot, where the request command is used to obtain the chassis posture of the target robot; in response to the request command, control the sensor to collect the chassis posture of the target robot, and send the chassis posture to the processor; receive the compensation information returned by the processor, The attitude of the chassis is adjusted based on the compensation information, wherein the compensation information includes: a compensation value and identification information.
在本申请实施例中,采用补偿值对底盘姿态进行调整的方式,通过传感器,用于采集机器人的底盘姿态;控制器,与传感器以及处理器连接,将底盘姿态发送至处理器,并根据处理器返回的补偿信息对机器人的底盘姿态进行调整,达到了调整底盘水平姿态的目的,从而实现了稳定机器人,避免机器人晃动,进而提高操作臂的操作精度的技术效果,进而解决了由于相关技术中由于地面环境影响造成的机器人自身不稳定、易晃动,容易影响机器人的操作臂的操作精度技术问题。In the embodiment of the present application, the compensation value is used to adjust the chassis posture, and the sensor is used to collect the chassis posture of the robot; the controller is connected with the sensor and the processor, and sends the chassis posture to the processor, and according to the processing The compensation information returned by the controller adjusts the chassis posture of the robot, and achieves the purpose of adjusting the horizontal posture of the chassis, thereby realizing the technical effect of stabilizing the robot, avoiding the shaking of the robot, and improving the operation accuracy of the manipulator, thereby solving the problem of the related technology. Due to the influence of the ground environment, the robot itself is unstable and easy to shake, which easily affects the technical problems of the operation accuracy of the robot's operating arm.
上述本申请实施例序号仅仅为了描述,不代表实施例的优劣。The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.
在本申请的上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述的部分,可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
在本申请所提供的几个实施例中,应该理解到,所揭露的技术内容,可通过其它的方式实现。其中,以上所描述的装置实施例仅仅是示意性的,例如所述单元的划分,可以为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,单元或模块的间接耦合或通信连接,可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative, for example, the division of the units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .
以上所述仅是本申请的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本申请原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本申请的保护范围。The above are only the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the principles of the present application, several improvements and modifications can also be made. It should be regarded as the protection scope of this application.
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Country or region after: China Address after: 101106 Huashang Industrial Park, No.9 Chuangyi East Road, East District, economic development zone, Xiji Town, Tongzhou District, Beijing Applicant after: BEIJING HUASHANG SANYOU NEW ENERGY TECHNOLOGY Co.,Ltd. Applicant after: Beijing Ludian Technology Development Co.,Ltd. Address before: 101106 Huashang Industrial Park, No.9 Chuangyi East Road, East District, economic development zone, Xiji Town, Tongzhou District, Beijing Applicant before: BEIJING HUASHANG SANYOU NEW ENERGY TECHNOLOGY Co.,Ltd. Country or region before: China Applicant before: BEIJING LEAD ELECTRIC EQUIPMENT Co.,Ltd. |