CN114347034A - Robot attitude compensation device and method - Google Patents

Abstract

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

Robot attitude compensation device and method

technical field

The present application relates to the field of robot control, and in particular, to a robot attitude compensation device and method.

Background technique

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.

For the above problems, no effective solution has been proposed yet.

SUMMARY OF THE INVENTION

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.

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.

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 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.

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.

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.

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.

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.

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.

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.

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, 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.

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.

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.

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.

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.

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.

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.

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.

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.

Description of drawings

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:

1 is a schematic structural diagram of a robot posture compensation device according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an optional robot according to an embodiment of the present application;

3 is a top plan view of a robot chassis in an optional embodiment of the embodiment of the present application;

4 is a schematic structural diagram of a servo support rod in an optional embodiment of the embodiment of the present application;

5 is a schematic flowchart of an optional robot attitude compensation method in an embodiment of the present application;

FIG. 6 is a schematic diagram of the overall structure of an optional robot attitude compensation device of the present application.

Detailed ways

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.

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.

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.

FIG. 1 is a robot posture compensation device according to an embodiment of the present application. As shown in FIG. 1 , the device includes:

The sensor 10 is used to collect the chassis posture of the robot;

The controller 20, connected with the sensor 10 and the processor 30, is used to send the chassis posture to the processor 30, and adjust the chassis posture of the robot according to the compensation information returned by the processor 30, wherein the compensation information includes: a compensation value and identification information;

The processor 30, connected to the controller 20, is configured to determine compensation information according to the chassis posture, and send the compensation information to the controller 20.

In the device, the sensor 10 is used to collect the chassis posture of the robot; the controller 20 is connected to the sensor 10 and the processor 30 and is used to send the chassis posture to the processor 30, and according to the compensation information returned by the processor 30, the robot The chassis posture is adjusted according to the chassis posture, wherein the compensation information includes: compensation value and identification information; the processor 30, connected with the controller 20, is used to determine the compensation information according to the chassis posture, and send the compensation information to the controller 20, so as to achieve The purpose of adjusting the horizontal posture of the chassis is to achieve the technical effect of stabilizing the robot, avoiding the shaking of the robot, and then improving the operation accuracy of the manipulator, thereby solving the instability of the robot itself caused by the influence of the ground environment in the related art. A technical problem affecting the operation accuracy of the manipulator arm of the robot.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 operating arm 01 and a robot chassis 02 .

FIG. 3 is a top plan view of the robot chassis 02 . It can be seen from FIG. 2 that the chassis is provided with four sliding devices A, B, C, D, and each sliding device is provided with a servo support rod 03 .

FIG. 4 is a schematic structural diagram of the servo support rod 03. As shown in FIG. 4, it includes: a servo motor 031, a push rod 032, and a buffer pad 033, wherein the buffer pad 033 is connected above the push rod 032, and the servo motor 031 uses It is used to drive the push rod 032 to extend or retract, so as to change the length of the push rod 032 extending outward.

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, receiving a request instruction for the target robot, wherein the request instruction is used to obtain the chassis posture of the target robot;

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: 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.

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.

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.

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.

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.

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.

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 .

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.

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.

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.

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.

Specifically, the above-mentioned storage medium is used to store program instructions that perform the following functions, and realize the following functions:

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.

Specifically, the above-mentioned processor is used to call the program instructions in the memory to realize the following functions:

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

Images