CN116183263A - Mowing robot slipping or collision detection method based on walking motor - Google Patents

Mowing robot slipping or collision detection method based on walking motor Download PDF

Info

Publication number
CN116183263A
CN116183263A CN202211716432.3A CN202211716432A CN116183263A CN 116183263 A CN116183263 A CN 116183263A CN 202211716432 A CN202211716432 A CN 202211716432A CN 116183263 A CN116183263 A CN 116183263A
Authority
CN
China
Prior art keywords
rotating speed
current
threshold value
slip
walking motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211716432.3A
Other languages
Chinese (zh)
Inventor
俞庆
刘楷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Sumec Intelligent Technology Co Ltd
Original Assignee
Nanjing Sumec Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Sumec Intelligent Technology Co Ltd filed Critical Nanjing Sumec Intelligent Technology Co Ltd
Priority to CN202211716432.3A priority Critical patent/CN116183263A/en
Publication of CN116183263A publication Critical patent/CN116183263A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G01M7/08—Shock-testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
    • G01P3/465—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage by using dynamo-electro tachometers or electric generator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Harvester Elements (AREA)

Abstract

The invention discloses a walking motor-based mowing robot slipping or collision detection method, which comprises the following steps of: (1) Continuously monitoring the rotating speed of a walking motor of the mowing robot, and collecting the working current of the walking motor; (2) And judging whether the mowing robot slips or collides by setting a threshold value. The invention only depends on the walking motor, and realizes the skid or collision detection of the mowing robot.

Description

Mowing robot slipping or collision detection method based on walking motor
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method for detecting slipping or collision of a mowing robot.
Background
The mowing robot is used as a mechanical tool for trimming plants such as lawns and vegetation, can automatically walk, automatically mow, does not need manual operation, can keep the mowing height and quality stable, effectively saves the working time of weeding workers, reduces a large amount of human resources, and is widely applied to the technical field of weeding.
At present, the mowing robot has no slip detection function, so that when slipping occurs, the phenomenon of in-situ digging easily occurs, and the lawn can be damaged.
Collision detection is an important ring of intelligent mowing robot safety protection, and in the prior art, the mowing robot mainly detects collision through contact sensors distributed around the mowing robot body, so that the problem of high cost exists.
Disclosure of Invention
The invention aims to provide a walking motor-based mowing robot slipping or collision detection method, which relies on a walking motor to realize slipping or collision detection of a mowing robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a mowing robot slipping or collision detection method based on a walking motor comprises the following steps:
(1) Continuously monitoring the rotating speed of a walking motor of the mowing robot, and collecting the working current of the walking motor;
(2) And judging whether the mowing robot slips or collides by setting a threshold value.
For slip detection, the step (2) includes:
(211) Calculating the average fluctuation rate of the rotating speed of the walking motor;
(212) Multiplying the working current value of the walking motor for a period of time before the current moment by a coefficient to obtain a current reference value;
(213) Judging the increase and decrease of the slip detection counter according to the average fluctuation rate of the rotating speed of the walking motor and the current value at the current moment;
(214) And judging whether to set or clear the slip occurrence mark according to the slip detection counter.
In the step (211), the method for calculating the average fluctuation ratio is as follows: subtracting the reference value from the sample values collected in a continuous period one by one, taking the absolute value, adding and dividing all the absolute value results by the sample number, and dividing the obtained result by the reference value to obtain the average fluctuation index.
In the step (212), when the average fluctuation rate of the rotation speed of the walking motor is larger than a given threshold value and the current value at the current moment is larger than the current reference value, the slip detection counter +1 is used, and otherwise, the slip detection counter-1 is used.
In the step (213), when the slip detection counter reaches the upper threshold, a slip occurrence flag is set, and when the slip detection counter is less than the lower threshold, the slip occurrence flag is cleared.
For collision detection, the step (2) includes:
(221) When the current running motor rotating speed is monitored to be lower than a first rotating speed set threshold value, recording a current value of a period of time before the current moment as a reference current for collision detection, and when the current rotating speed is monitored to be higher than the first rotating speed set threshold value, a collision counter-1;
(222) When the current running motor rotating speed is monitored to be lower than a second rotating speed setting threshold value and the current running motor working current value is monitored to be greater than a set collision detection current threshold value, a collision counter +1 is used, otherwise, the collision counter-1 is used;
(223) And when the collision counter is larger than the set threshold value, setting a collision occurrence mark.
In the steps (221) and (222), the first rotation speed setting threshold value and the second rotation speed setting threshold value are dynamic threshold values obtained by automatic calculation according to the current given rotation speed and combined with an empirical coefficient.
The relation between the first rotating speed set threshold value and the second rotating speed set threshold value is as follows:
the first rotation speed setting threshold is 50% of the second speed threshold, but not lower than 2;
the relation between the second rotating speed setting threshold value and the current given rotating speed is as follows:
when the current given rotating speed is 0-19, the second rotating speed setting threshold value is 50% of the current given rotating speed, but not lower than 4;
when the current given rotating speed is 20-29, the second rotating speed setting threshold value is 40% of the current given rotating speed;
when the current given rotating speed is 30-39, the second rotating speed setting threshold value is 30% of the current given rotating speed;
when the current given rotating speed is 40-79, the second rotating speed setting threshold value is 20% of the current given rotating speed;
when the current given rotating speed is 80-99, the second rotating speed setting threshold value is 15% of the current given rotating speed;
when the current given rotating speed is 100-119, the second rotating speed setting threshold value is 10% of the current given rotating speed.
In the step (222), the collision detection current threshold=reference current value is an empirical coefficient, and the empirical coefficient is obtained through a test.
In the step (223), when the collision counter is 0, the collision flag is cleared, and the current reference value is cleared to prepare for the next collision detection.
The principle of the invention is as follows: when the machine slips, the rubber thorns of the travelling wheels can enable the running state of the driving motor to change somewhat, the phenomenon that the rotating speed of the motor is unstable is changed, the fluctuation is increased, and meanwhile, the current of the motor is increased. Because the running motor adopts the rotation speed feedback control, the unstable rotation speed can be shown to be finer and less obvious, and instant rotation speed fluctuation caused by accidental interference is eliminated. Although the motor current changes greatly, the motor current can cause abrupt changes in walking motor current in many cases, such as driving into a thicker grass area. Therefore, if the slip is judged to occur only by unstable rotation speed or large current change, the missing judgment or the false judgment is easy to occur. The invention combines the two, monitors the unstable rotation speed and continues to a period of time (slipping is a steady state phenomenon generally, and needs to continue for a certain time, unlike collision is a transient phenomenon), and the slip alarm is triggered when the current value is observed to be larger than before.
The beneficial effects are that: the invention only depends on the walking motor, and realizes the skid or collision detection of the mowing robot. In order to characterize the fluctuation condition of the speed, the invention establishes an average fluctuation rate index, and uses the average fluctuation rate, so as to filter the occasional abnormal speed value and prevent false detection. In addition, the motor rotation speed is indirectly measured by adopting a method for measuring the motor commutation interval time, so that the rotation speed measurement precision of the motor is improved, and the less obvious average rotation speed fluctuation rate can be distinguished. The invention adopts a dynamic threshold method to carry out collision detection, and the speed and current change threshold used for collision detection are dynamically changed, in particular to the collision current value which is automatically generated in operation, thus being capable of being well adapted to the change of a system.
Drawings
Fig. 1 is a flowchart of a collision detection method of a mowing robot based on a walking motor of embodiment 2.
Detailed Description
The invention will be further explained with reference to the drawings and examples.
Example 1
The embodiment is a mowing robot slip detection method based on a walking motor, comprising the following steps:
(1) Continuously monitoring the rotating speed of a walking motor of the mowing robot, and collecting the working current of the walking motor; the method for measuring the reversing interval time of the walking motor is used for indirectly measuring the rotating speed of the motor.
(2) Calculating the average fluctuation rate of the rotating speed of the walking motor; the calculation method of the average fluctuation rate comprises the following steps: subtracting the reference value from the sample values collected in a continuous period one by one, taking the absolute value, adding and dividing all the absolute value results by the sample number, and dividing the obtained result by the reference value to obtain the average fluctuation index.
(3) Taking the running motor working current value which is a period of time (for example, 2 seconds) before the current moment, multiplying the running motor working current value by a coefficient to be used as a current reference value; wherein, the coefficient value is 150-350%.
(4) And (3) according to the average fluctuation rate of the rotating speed of the walking motor calculated in the step (2) is larger than a given threshold value, and the current value at the current moment is larger than a current reference value, a slip detection counter +1 is used, and otherwise, the slip detection counter-1 is used.
(5) The slip occurrence flag is set when the slip detection counter reaches a given upper threshold, and is cleared when the slip detection counter is less than a given lower threshold. In one embodiment, the slip detection execution interval is set to 100ms, and for a detection process of 2 seconds in succession, the slip detection counter is defined to be 16 at a given threshold value, and 8 at a given threshold value.
A calculation example of the average fluctuation ratio in the present embodiment is given below:
under the normal operation condition, the following 256 sampling points of the running motor rotating speeds are collected:
Figure BDA0004027745220000042
the average value of the 256 rotational speeds was calculated as a reference value, namely 33.4.
Taking absolute values of the results of subtracting the reference value from each of the 256 rotational speed values, and obtaining:
Figure BDA0004027745220000043
/>
Figure BDA0004027745220000051
calculating the sum of absolute values as: 317.56;
the absolute value summation is divided by the number of rotating speed values 256 to obtain an average error absolute value as follows: 1.24; thus, the average fluctuation ratio is: average error absolute value/reference value 100% = 3.71%
Under the slipping operation condition, the following 256 sampling points of the running motor rotating speeds are collected:
Figure BDA0004027745220000052
/>
Figure BDA0004027745220000061
the average value of the 256 rotational speeds was calculated as a reference value, namely 33.93.
Taking absolute values of the results of subtracting the reference value from each of the 256 rotational speed values, and obtaining:
Figure BDA0004027745220000062
/>
Figure BDA0004027745220000071
calculating the sum of absolute values as: 1108.41
The absolute value summation is divided by the number of rotating speed values 256 to obtain an average error absolute value as follows: 4.33
The average fluctuation ratio is: average error absolute value/reference value 100% = 12.76%
The average speed fluctuation rate of normal running is 3.71%, the average speed fluctuation rate of skidding is 12.76%, and the two are obviously distinguished.
Example 2
The embodiment is a collision detection method of a mowing robot based on a walking motor, as shown in fig. 1, comprising the following steps:
(1) Continuously collecting working current of a walking motor of the mowing machine;
(2) Continuously monitoring the rotating speed of a walking motor of the mowing machine;
(3) When the current running motor rotating speed is monitored to be lower than a first rotating speed set threshold value, recording a current value of a period of time (for example, hundreds of milliseconds) before the current moment as a reference current for collision detection, and when the current rotating speed is monitored to be higher than the first rotating speed set threshold value, a collision counter-1;
(4) When the current running motor rotating speed is monitored to be lower than a second rotating speed setting threshold value and the current running motor working current value is monitored to be greater than a set collision detection current threshold value, a collision counter +1 is used, otherwise, the collision counter-1 is used;
(5) When the collision counter is larger than the set threshold value, a collision occurrence mark is set; when the collision counter is 0, the collision flag is cleared, and the current reference value is cleared to prepare for the next collision detection.
The first rotating speed setting threshold value and the second rotating speed setting threshold value are dynamic threshold values obtained through automatic calculation according to the current given rotating speed and the empirical coefficient.
Collision detection current threshold = reference current value x empirical factor.
The empirical coefficients are obtained by performing a test according to the model.
Taking table 1 as an example, an example of acquisition of the first rotation speed setting threshold value, the second rotation speed setting threshold value, and the empirical coefficient is given.
TABLE 1
Figure BDA0004027745220000081
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A mowing robot slipping or collision detection method based on a walking motor is characterized by comprising the following steps of: the method comprises the following steps:
(1) Continuously monitoring the rotating speed of a walking motor of the mowing robot, and collecting the working current of the walking motor;
(2) And judging whether the mowing robot slips or collides by setting a threshold value.
2. The walking motor-based mowing robot slip or collision detection method as claimed in claim 1, wherein: for slip detection, the step (2) includes:
(211) Calculating the average fluctuation rate of the rotating speed of the walking motor;
(212) Multiplying the working current value of the walking motor for a period of time before the current moment by a coefficient to obtain a current reference value;
(213) Judging the increase and decrease of the slip detection counter according to the average fluctuation rate of the rotating speed of the walking motor and the current value at the current moment;
(214) And judging whether to set or clear the slip occurrence mark according to the slip detection counter.
3. The walking motor-based mowing robot slip or collision detection method as claimed in claim 2, wherein: in the step (211), the method for calculating the average fluctuation ratio is as follows: subtracting the reference value from the sample values collected in a continuous period one by one, taking the absolute value, adding and dividing all the absolute value results by the sample number, and dividing the obtained result by the reference value to obtain the average fluctuation index.
4. The walking motor-based mowing robot slip or collision detection method as claimed in claim 2, wherein: in the step (212), when the average fluctuation rate of the rotation speed of the walking motor is larger than a given threshold value and the current value at the current moment is larger than the current reference value, the slip detection counter +1 is used, and otherwise, the slip detection counter-1 is used.
5. The walking motor-based mowing robot slip or collision detection method as claimed in claim 1, wherein: in the step (213), when the slip detection counter reaches the upper threshold, a slip occurrence flag is set, and when the slip detection counter is less than the lower threshold, the slip occurrence flag is cleared.
6. The walking motor-based mowing robot slip or collision detection method as claimed in claim 1, wherein: for collision detection, the step (2) includes:
(221) When the current running motor rotating speed is monitored to be lower than a first rotating speed set threshold value, recording a current value of a period of time before the current moment as a reference current for collision detection, and when the current rotating speed is monitored to be higher than the first rotating speed set threshold value, a collision counter-1;
(222) When the current running motor rotating speed is monitored to be lower than a second rotating speed setting threshold value and the current running motor working current value is monitored to be greater than a set collision detection current threshold value, a collision counter +1 is used, otherwise, the collision counter-1 is used;
(223) And when the collision counter is larger than the set threshold value, setting a collision occurrence mark.
7. The walking motor-based mowing robot slip or collision detection method as recited in claim 6, wherein: in the steps (221) and (222), the first rotation speed setting threshold value and the second rotation speed setting threshold value are dynamic threshold values obtained by automatic calculation according to the current given rotation speed and combined with an empirical coefficient.
8. The walking motor-based mowing robot slip or collision detection method according to claim 6 or 7, wherein: the relation between the first rotating speed set threshold value and the second rotating speed set threshold value is as follows:
the first rotation speed setting threshold is 50% of the second speed threshold, but not lower than 2;
the relation between the second rotating speed setting threshold value and the current given rotating speed is as follows:
when the current given rotating speed is 0-19, the second rotating speed setting threshold value is 50% of the current given rotating speed, but not lower than 4;
when the current given rotating speed is 20-29, the second rotating speed setting threshold value is 40% of the current given rotating speed;
when the current given rotating speed is 30-39, the second rotating speed setting threshold value is 30% of the current given rotating speed;
when the current given rotating speed is 40-79, the second rotating speed setting threshold value is 20% of the current given rotating speed;
when the current given rotating speed is 80-99, the second rotating speed setting threshold value is 15% of the current given rotating speed;
when the current given rotating speed is 100-119, the second rotating speed setting threshold value is 10% of the current given rotating speed.
9. The walking motor-based mowing robot slip or collision detection method as recited in claim 6, wherein: in the step (222), the collision detection current threshold=reference current value is an empirical coefficient, and the empirical coefficient is obtained through a test.
10. The walking motor-based mowing robot slip or collision detection method as recited in claim 6, wherein: in the step (223), when the collision counter is 0, the collision flag is cleared, and the current reference value is cleared to prepare for the next collision detection.
CN202211716432.3A 2022-12-29 2022-12-29 Mowing robot slipping or collision detection method based on walking motor Pending CN116183263A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211716432.3A CN116183263A (en) 2022-12-29 2022-12-29 Mowing robot slipping or collision detection method based on walking motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211716432.3A CN116183263A (en) 2022-12-29 2022-12-29 Mowing robot slipping or collision detection method based on walking motor

Publications (1)

Publication Number Publication Date
CN116183263A true CN116183263A (en) 2023-05-30

Family

ID=86437611

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211716432.3A Pending CN116183263A (en) 2022-12-29 2022-12-29 Mowing robot slipping or collision detection method based on walking motor

Country Status (1)

Country Link
CN (1) CN116183263A (en)

Similar Documents

Publication Publication Date Title
CN112405524B (en) Robot collision detection method and device and robot
CN110648480B (en) Single variable alarm system and method based on change rate
CN105515820A (en) Health analysis method for operation and maintenance management
CN110849404B (en) Continuous discrimination method for sensor data abnormity
CN116183263A (en) Mowing robot slipping or collision detection method based on walking motor
CN117250576B (en) Current sensor real-time abnormality detection method based on multidimensional sensing data
CN104880488B (en) Cutting breaking automatic testing method based on amperometry
US20220326709A1 (en) Outdoor robot and control method therefor
CN116893643A (en) Intelligent robot driving track safety control system based on data analysis
CN115657631A (en) Intelligent monitoring system for industrial control equipment operation field environment
CN104503361B (en) Gear Processing process tool change decision method based on multi-pattern Fusion
CN108937701A (en) Window wiping robot and its condition detection method
CN112320599B (en) Health monitoring method and system for port hoisting equipment
CN114722866B (en) Management and control system is tracked to equipment based on industry internet
CN109542100B (en) Method and device for adjusting harvesting posture of peanut combine harvester and harvester
CN108115206A (en) Method, control device and the system being processed using cutting tool to workpiece
CN114879033A (en) Motor fault detection method, system and storage medium
CN115578841A (en) Shield abnormal data detection method and system based on Z-score model
CN116323119A (en) Self-walking device and collision detection method thereof
CN112405523A (en) Robot collision detection method and device and robot
CN113092152B (en) Composite monitoring device and method for vibration temperature of mobile equipment
KR102145902B1 (en) Intelligent Driving System for Autonomous Vehicles
JPH04269153A (en) Monitoring method for cutting load by data extract mean method
CN112983592A (en) Security method for monitoring engine oil pressure in real time
CN114252274B (en) On-line detection method for blockage of gas turbine inlet filter

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination