CN117162145A - Pressure detection device, method, robot, and storage medium - Google Patents

Abstract

The application is applicable to the technical field of robots, and provides pressure detection equipment which comprises a control module, an optical ranging module and a buffer module, wherein the distance between the optical ranging module and the buffer module is measured and sent to the control module, and the size of external pressure born by the buffer module is determined through the control module according to the distance and a preset corresponding relation; the distance measuring speed is high and the response delay is low through the optical ranging module, the distance between the optical ranging module and the deformed buffering module can be measured quickly and accurately when the buffering module is deformed by external pressure, and the distance can be converted into the pressure according to the preset corresponding relation, so that the external pressure received by the buffering module is obtained in real time, the interference from the external environment can be avoided, the accuracy of pressure detection is improved, and the accuracy of motion condition analysis of the machine dog can be improved when the device is applied to the foot end of the machine dog, and the control accuracy of the machine dog is improved.

Description

Pressure detection device, method, robot, and storage medium

Technical Field

The application belongs to the technical field of robots, and particularly relates to pressure detection equipment, a pressure detection method, a robot and a storage medium.

Background

The robot dog is used as a robot with a brand new shape, has the shape structure of a quadruped animal, and has excellent controllable balance and terrain adaptability compared with the traditional wheeled robot, crawler-type robot, humanoid robot and the like. The condition that the machine dog is contacted with the outside needs to be obtained by using various sensors, for example, the condition that the surrounding environment is obtained through vision or radar, the condition that the machine dog is contacted with the outside is obtained through a force sensor, wherein the condition that the machine dog touches the ground through four legs can be obtained through the force sensor at the foot end, and the condition that the machine dog moves can be used for analyzing according to the condition that the machine dog touches the ground through four legs.

At present, an air bag type pressure sensor is generally adopted as a force sensor at the foot end of a machine dog, the pressure at the foot end is indirectly detected by detecting the pressure in an air bag in the process of force deformation of the air bag, the pressure change in the air bag is delayed when the air bag is in force deformation, the pressure in the air bag is easy to change according to external environments (such as temperature and humidity), the pressure detection accuracy of the foot end of the machine dog is poor, the movement condition analysis accuracy of the machine dog is reduced, and the control accuracy of the machine dog is reduced.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a pressure detection apparatus, a method, a robot, and a storage medium, so as to solve the problem that the accuracy of detecting the pressure of the foot end by the existing pressure detection method is poor, and the accuracy of analyzing the movement condition of the robot dog is reduced, which results in the reduction of the control accuracy of the robot dog.

A first aspect of an embodiment of the present application provides a pressure detection apparatus, including a control module, an optical ranging module, and a buffer module, where the optical ranging module is connected to the control module;

the buffer module deforms when being subjected to external pressure;

the optical ranging module is used for measuring the distance between the optical ranging module and the buffer module and sending the distance to the control module;

the control module is used for determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a preset corresponding relation between the magnitude of the external pressure received by the buffer module and the distance.

In one embodiment, the device further comprises an angle detection module, wherein the angle detection module is connected with the control module;

the buffer module deforms when the stress surface is subjected to external pressure;

the optical ranging module is used for measuring the distance between the optical ranging module and a preset ranging point of the buffer module and sending the distance to the control module;

the angle detection module is used for acquiring a deviation angle between a preset connecting line and the stressed surface and sending the deviation angle to the control module, and the preset connecting line is a connecting line between a luminous point of the optical ranging module and the preset ranging point;

the control module is used for determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a corresponding relation among the magnitude of the preset external pressure received by the buffer module, the distance and the offset angle.

In one embodiment, the system further comprises a convergence module, wherein the convergence module is arranged between the optical ranging module and a preset ranging point of the buffer module;

the light pulses emitted by the optical ranging module are converged at a preset ranging point of the buffer module through the converging module.

According to a first aspect of the embodiment of the application, a pressure detection device is provided, a distance between the pressure detection device and a buffer module is measured through an optical ranging module and is sent to a control module, and the magnitude of external pressure born by the buffer module is determined through the control module according to the distance and a preset corresponding relationship, wherein the preset corresponding relationship is a preset corresponding relationship between the magnitude of external pressure born by the buffer module and the distance; the distance measuring speed is high and the response delay is low through the optical ranging module, the distance between the optical ranging module and the deformed buffering module can be measured quickly and accurately when the buffering module is deformed by external pressure, and the distance can be converted into the pressure according to the preset corresponding relation, so that the external pressure received by the buffering module is obtained in real time, the interference from the external environment can be avoided, the accuracy of pressure detection is improved, and the accuracy of movement condition analysis of the machine dog can be improved when the pressure detection equipment is applied to the foot end of the machine dog, thereby improving the control accuracy of the machine dog.

A second aspect of the embodiment of the present application provides a robot, including a main controller, n mechanical joints, and n pressure detection devices provided in the first aspect of the embodiment of the present application, where an ith pressure detection device is installed on a corresponding ith mechanical joint;

the main controller is respectively connected with the n control modules and is respectively connected with the n mechanical joints;

the optical ranging module of the ith pressure detection equipment is arranged in the corresponding ith mechanical joint, and the buffer module of the ith pressure detection equipment is connected with the corresponding ith mechanical joint;

the main controller is used for acquiring the motion states of the corresponding mechanical joints through the control modules of the n pressure detection devices, and determining the motion states of the robot according to the motion states of the n mechanical joints;

wherein i=1, 2, …, n, n is an integer greater than or equal to 1.

In one embodiment, the control module of the ith pressure detection device is configured to determine a motion state of a corresponding ith mechanical joint according to the pressure, where the motion state of the mechanical joint is suspended, contacted or overshot.

In one embodiment, the control module of the ith pressure sensing apparatus is configured to:

when the pressure is smaller than or equal to a first preset pressure, determining that the motion state of the corresponding ith mechanical joint is suspended;

when the pressure is larger than the first preset pressure and smaller than or equal to the second preset pressure, determining the motion state of the corresponding ith mechanical joint to be contact;

when the pressure is larger than a second preset pressure, determining the motion state of the corresponding ith mechanical joint as overshoot;

wherein the second preset pressure is greater than the first preset pressure.

According to the second aspect of the embodiment of the application, the pressure detection equipment is arranged in the mechanical joints of the robot, the motion state of the corresponding mechanical joints can be obtained through the control module of the pressure detection equipment, and the motion state of the robot is determined according to the motion state of each mechanical joint, so that the accuracy of pressure detection of each mechanical joint can be improved, the accuracy of judgment of the motion state of each mechanical joint is improved, the accuracy of judgment of the motion state of the robot is improved, the current accurate motion state of the robot can be captured in real time by the main controller of the robot, and the control progress of the robot is improved.

A third aspect of the embodiment of the present application provides a pressure detection method, which is applied to the control module of the pressure detection device provided in the first aspect of the embodiment of the present application, where the method includes:

measuring a distance through an optical ranging module to obtain the distance between the optical ranging module and a buffer module; wherein the buffer module deforms when being subjected to external pressure;

and determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a preset corresponding relation between the magnitude of the external pressure received by the buffer module and the distance.

A fourth aspect of the embodiment of the present application provides a pressure detection method, which is applied to the main controller of the robot provided in the second aspect of the embodiment of the present application, and the method includes:

acquiring the motion state of the corresponding mechanical joint through control modules of n pressure detection devices;

and determining the motion state of the robot according to the motion states of the n mechanical joints.

A fifth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the pressure detection method provided in the third or fourth aspect of the embodiments of the present application.

It will be appreciated that the advantages of the third aspect may be referred to in the description of the first aspect, the advantages of the fourth aspect may be referred to in the description of the second aspect, and the advantages of the fifth aspect may be referred to in the description of the first or second aspect, which are not repeated here.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a first structure of a pressure detecting apparatus according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a pressure detection device according to an embodiment of the present application in operation;

FIG. 3 is a schematic diagram of a second structure of a pressure detecting apparatus according to an embodiment of the present application;

fig. 4 is a schematic view of a third structure of the pressure detecting apparatus according to the embodiment of the present application;

FIG. 5 is a schematic view of a pressure detection device according to an embodiment of the present application, where a convergence module is installed and in operation;

FIG. 6 is a schematic diagram of a first flow chart of a pressure detection method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a second flow chart of a pressure detection method according to an embodiment of the present application;

FIG. 8 is a schematic functional diagram of a preset correspondence provided in an embodiment of the present application;

fig. 9 is a schematic view of a first configuration of a robot according to an embodiment of the present application;

FIG. 10 is a schematic diagram illustrating deformation of a buffer module when the motion states of a mechanical joint provided by the embodiment of the application are suspension, touchdown, standing and overshoot, respectively;

fig. 11 is a schematic diagram of a third flow chart of a pressure detection method according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In application, the current foot end force sensor of the machine dog generally adopts an air bag type pressure sensor, when the air bag is deformed under stress, the pressure change in the air bag is delayed, the pressure in the air bag is easy to change according to the external environment (such as temperature, humidity and the like), the accuracy of detecting the pressure of the foot end of the machine dog is poor, the accuracy of analyzing the movement condition of the machine dog is reduced, and the control accuracy of the machine dog is reduced.

The pressure detection device provided by the embodiment of the application can be applied to equipment with pressure detection requirements, such as robots, weight detection equipment, electronic equipment provided with flexible circuit boards or flexible screens, hydraulic equipment or compression equipment and the like. The robot can be a wheeled robot, a crawler robot, a humanoid robot and other robots of different types, and can be a robot dog.

As shown in fig. 1, the pressure detecting device 100 provided by the embodiment of the application is characterized by comprising a control module 110, an optical ranging module 120 and a buffer module 130, wherein the optical ranging module 120 is connected with the control module 110;

the buffer module 130 deforms when receiving external pressure;

the optical ranging module 120 is used for measuring the distance between the buffer module 130 and the optical ranging module and sending the measured distance to the control module 110;

the control module 110 is configured to determine the magnitude of the external pressure received by the buffer module 130 according to the distance and a preset corresponding relationship, where the preset corresponding relationship is a preset corresponding relationship between the magnitude of the external pressure received by the buffer module 130 and the distance.

In application, the buffer module 130 may be a separate piece of elastic material, such as rubber, sponge, or latex; the buffer module 130 may also be composed of an outer wall and an inner cavity, the outer wall wraps the inner cavity and stores gas in the inner cavity, the outer wall may be made of elastic materials such as rubber, sponge or latex, and the type of gas stored in the inner cavity may be inert Gases (Noble Gases), or may be Gases of different types such as oxygen, carbon dioxide, nitrogen, etc. The shape of the buffer module 130 may be a sphere, a cuboid, a cylinder, a cone, a pyramid, or a pyramid, among other types of geometric shapes. The embodiment of the present application does not limit the specific structure, material and shape of the buffer module 130.

In application, the buffer module 130 can generate deformation when being subjected to external pressure, and the specific deformation degree is related to the magnitude and direction of the external pressure, and when the direction of the external pressure is unchanged, the larger the magnitude of the external pressure is, the larger the deformation degree of the buffer module 130 is. When the buffer module 130 is not subjected to external pressure, the preset shape may be maintained or the deformation may be eliminated and restored to the preset shape. Therefore, the magnitude and direction of the external pressure can be quantified by analyzing the degree of deformation of the buffer module 130.

In application, the optical ranging module 120 may be a different type of optical ranging module 120 such as a laser ranging sensor or an infrared ranging sensor. The optical ranging module 120 may be configured to emit a light pulse 121, where the light pulse 121 is reflected to generate a reflected pulse 122 when reaching the buffer module 130, and according to the emission time of the light pulse 121 and the receiving time of the reflected pulse 122, the propagation time of the light pulse 121 may be obtained, and according to the calculation formulas of the propagation time, the propagation speed, and the path speed time of the light pulse 121, the distance between the optical ranging module 120 and the buffer module 130 may be calculated.

In an application, the optical ranging module 120 and the buffer module 130 may be fixed in the pressure sensing apparatus 100 such that the optical ranging module 120 has a predetermined distance between a fixed point in the pressure sensing apparatus 100 and the buffer module 130 has a predetermined distance between fixed points in the pressure sensing apparatus 100. The predetermined distance is maintained when the buffer module 130 is deformed by an external pressure. Before the optical ranging module 120 measures the distance from the buffer module 130, the optical ranging module 120 may select any location on the buffer module 130 as a preset ranging point 131, and use the distance from the preset ranging point 131 as the distance from the buffer module 130. So that the deformation degree of the buffer module 130 can be obtained according to the above distance when the buffer module 130 is deformed by the external pressure. It should be noted that, the distance between the buffer module 130 and the optical ranging module 120 may be measured by an acoustic ranging module (e.g., an ultrasonic ranging sensor), and compared to an acoustic ranging module, the speed and accuracy of the optical ranging module 120 are higher, which is beneficial to quickly and accurately acquiring the distance between the ranging module and the buffer module 130.

In application, the control module 110 may be a central processing unit (Central Processing Unit, CPU) which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In particular, a micro control unit (Microcontroller Unit, MCU) is provided.

In application, the control module 110 stores a preset corresponding relationship between the pressure and the distance received by the buffer module 130, where the preset corresponding relationship is a corresponding relationship between the distance and the pressure received by the buffer module 130, and the control module 110 can determine the external pressure received by the buffer module 130 according to the distance and the preset corresponding relationship by inputting the distance measured by the optical ranging module 120 into the control module 110. The control module 110 may also subtract the foregoing distance from the preset distance to obtain the deformation distance of the buffer module 130.

Fig. 2 schematically illustrates a scenario in which the pressure detection apparatus 100 is operated, in which the actual propagation paths of the light pulse 121 and the reflected pulse 122 generally coincide with each other, and fig. 2 schematically illustrates that the propagation paths of the light pulse 121 and the reflected pulse 122 are spaced apart, and the preset ranging point 131 is disposed above the buffer module 130 for easy understanding.

In application, the distance between the buffer module 130 and the optical ranging module 120 is measured and sent to the control module 110, and the magnitude of the external pressure received by the buffer module 130 is determined by the control module 110 according to the distance and a preset corresponding relationship, wherein the preset corresponding relationship is a preset corresponding relationship between the magnitude of the external pressure received by the buffer module 130 and the distance; the optical ranging module 120 is fast in measuring distance and low in response delay, when the buffer module 130 is deformed due to external pressure, the distance between the optical ranging module 120 and the buffer module 130 in deformation can be measured quickly and accurately, and the distance can be converted into pressure according to a preset corresponding relation, so that the external pressure received by the buffer module 130 is obtained in real time, the accuracy of pressure detection is improved, and when the pressure detection device 100 is applied to the foot end of a machine dog, the accuracy of analysis of the movement condition of the machine dog can be improved, and the control accuracy of the machine dog is further improved.

As shown in fig. 3, in one embodiment, based on the embodiment corresponding to fig. 1, the device further includes an angle detection module 140, where the angle detection module 140 is connected to the control module 110;

the buffer module 130 deforms when the stress surface is subjected to external pressure;

the optical ranging module 120 is configured to measure a distance between the optical ranging module 120 and a preset ranging point 131 of the buffer module 130 and send the measured distance to the control module 110;

the angle detection module 140 is configured to obtain an offset angle between a preset connection line and a stress surface, and send the offset angle to the control module 110, where the preset connection line is a connection line between a light emitting point of the optical ranging module 120 and a preset ranging point 131;

the control module 110 is configured to determine the magnitude of the external pressure received by the buffer module 130 according to the distance and a preset corresponding relationship, where the preset corresponding relationship is a corresponding relationship among the magnitude, the distance and the offset angle of the preset external pressure received by the buffer module 130.

In application, the pressure detection device 100 may further include an angle detection module 140, where the angle detection module 140 may be a Gyroscope (gyroscillope), a Gravimeter (gradiometer), or the like that may be used to detect the angle of an object in motion. The angle detection module 140 may be connected to the control module 110, and may be independently disposed in the pressure detection device 100, so as to drive the movement of the pressure detection device 100 when the buffer module 130 receives external pressure, so as to obtain an offset angle; or may be built in the buffer module 130 so as to directly detect the movement of the buffer module 130 when the buffer module 130 is subjected to external pressure, so as to obtain the offset angle. The embodiment of the present application does not impose any limitation on the specific type and structure of the angle detection module 140.

In application, the buffer module 130 has a stress surface when being subjected to external pressure, and the offset angle between the stress surface and the preset connection line can reflect the direction of the external pressure, and the angle detection module 140 can obtain the offset angle to obtain the direction of the external pressure. Specifically, when the preset connection line is perpendicular to the contact surface, the offset angle may be set to be equal to 0, that is, when the direction of the external pressure is coincident with the preset connection line, the offset angle is equal to 0.

In application, when the external pressure is the same and the directions are different, the deformed shape of the buffer module 130 may change, which may easily cause the distance between the optical ranging module 120 and the buffer module 130 to change. The preset corresponding relation preset by the control module 110 may be a corresponding relation among the magnitude, the distance and the offset angle of the external pressure received by the buffer module 130, so that when the directions of the external pressure are different, the magnitude of the external pressure can be determined according to the corresponding preset corresponding relation called by the direction of the external pressure, thereby improving the accuracy of pressure detection.

As shown in fig. 4, in one embodiment, based on the embodiment corresponding to fig. 3, the system further includes a convergence module 150, where the convergence module 150 is disposed between the optical ranging module 120 and the preset ranging point 131 of the buffer module 130;

the light pulses 121 emitted by the optical ranging module 120 are converged at the preset ranging point 131 of the buffer module 130 via the converging module 150.

In application, the converging module 150 may be a convex lens, a super-surface lens, or a light converging device such as a condenser, and the converging module 150 is disposed between the optical ranging module 120 and the preset ranging point 131 of the buffer module 130. The light pulses 121 emitted by the optical ranging module 120 are refracted after passing through the converging module 150, so that the plurality of light pulses 121 are converged at the preset ranging point 131 of the buffer module 130, and the number of the light pulses 121 emitted to the preset ranging point 131 can be greatly increased in each moment, so that the number of the reflected pulses 122 received by the optical ranging module 120 is increased, the accuracy and the sensitivity of the distance measurement of the optical ranging module 120 are further improved, and the problem that the measurement delay is increased due to the fact that the reflected pulses 122 are not returned to the optical ranging module 120 or the reflected pulses 122 are reflected for multiple times is avoided, and the accuracy of the distance measurement is affected.

Fig. 5 exemplarily shows a schematic view of a scenario when the pressure detection apparatus 100 is mounted with the convergence module 150.

As shown in fig. 6, the pressure detection method provided by the embodiment of the present application is applied to the pressure detection apparatus 100 provided by the above embodiment, and includes the following steps S601 and S602:

step S601, measuring a distance through an optical ranging module to obtain the distance between the optical ranging module and a buffer module; wherein the buffer module deforms when being subjected to external pressure;

step S602, determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a corresponding relation between the preset magnitude of the external pressure received by the buffer module and the distance.

In application, the pressure detection method provided in the embodiment of the present application may be described with reference to the related functions of the optical ranging module 120 and the buffer module 130 in the above embodiment, which is not described herein.

As shown in fig. 7, in one embodiment, based on the embodiment corresponding to fig. 6, the following steps S701 to S705 are included:

step S701, applying external calibration pressure to the buffer module for m times;

step S702, when the q-th external calibration pressure is applied to the buffer module, the q-th external calibration pressure received by the buffer module 130 is obtained, and the q-th calibration distance is measured by the optical ranging module 120;

step S703, establishing a preset corresponding relation according to m times of external calibration pressure and m times of calibration distances corresponding to each other one by one; wherein q=2, …, m, m is an integer greater than or equal to 2;

in application, a preset correspondence relationship may be established through steps S701 to S703, which will be described in detail below.

In application, the pressure detection device may construct a preset correspondence through a pre-test, and a method for constructing the preset correspondence is described below. The tester can apply external calibration pressure to the buffer module m times by controlling a mechanical arm or manually applying pressure and the like; when the q-th external calibration pressure is applied to the buffer module, the q-th external calibration pressure can be recorded by pressure recording equipment such as a pressure recorder (Pressure Recorder) and an electronic scale (Electronic Balance), and the q-th calibration distance is measured by the optical ranging module; and establishing a preset corresponding relation through data Fitting (Curve Fitting) according to the m external calibration pressures and the m calibration distances in one-to-one correspondence.

Fig. 8 is a schematic diagram illustrating a function of a preset correspondence relationship.

Step S704, measuring the distance through the optical ranging module to obtain the distance between the optical ranging module and the buffer module; wherein the buffer module deforms when being subjected to external pressure;

step 705, determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relationship, where the preset corresponding relationship is a preset corresponding relationship between the magnitude of the external pressure received by the buffer module and the distance.

In application, the pressure detection method provided in step S704 and step S705 may be described with reference to the related functions of the optical ranging module 120 and the buffer module 130 in the above embodiment, which is not described herein.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

As shown in fig. 9, a robot 200 according to an embodiment of the present application includes a main controller 210, n mechanical joints, and n pressure detection devices 100 according to the foregoing embodiments, where an ith pressure detection device is mounted on a corresponding ith mechanical joint;

the main controller 210 is respectively connected with the n control modules 110 and is respectively connected with the n mechanical joints;

the optical ranging module 120 of the ith pressure sensing apparatus is installed in the corresponding ith mechanical joint, and the buffer module 130 of the ith pressure sensing apparatus is connected with the corresponding ith mechanical joint;

the main controller 210 is configured to obtain the motion states of the corresponding mechanical joints through the control modules 110 of the n pressure detection devices 100, and determine the motion states of the robot 200 according to the motion states of the n mechanical joints;

wherein i=1, 2, …, n, n is an integer greater than or equal to 1.

It should be noted that, in fig. 9, the robot 200 is only illustrated as including the 1 st mechanical joint 221 and the 2 nd mechanical joint 222, and the embodiment of the present application does not limit the number of mechanical joints of the robot.

In application, the pressure detection apparatus 100 provided in the above embodiment may be applied to the robot 200, and the pressure detection apparatus 100 may be installed in any one, any plurality, or each mechanical joint of the robot 200. The mechanical joints can be mechanical joints of different types such as mechanical arms or mechanical legs. The robot 200 may specifically be a robot dog including four mechanical legs, or may be an industrial robot 200 including two mechanical arms, three mechanical arms, four mechanical arms, or the like, and the embodiment of the present application does not impose any limitation on the specific types of the robot 200 and the mechanical arms.

In application, the main controller 210 may be a central processing unit (Central Processing Unit, CPU) which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In application, the master controller 210 may control the motion state of each of the robotic arms, and thus the motion state of the robot 200. The main controller 210 may also acquire the motion states of the corresponding mechanical joints through the control modules 110 of the n pressure detection devices 100, thereby determining the motion state of the robot 200 according to the motion states of the n mechanical joints and the preset motion state relationship. The preset motion state relationship is a correspondence relationship between the motion states of the n preset mechanical joints and the motion states of the robot 200, and is described in detail below.

In one embodiment, the control module 110 of the ith pressure detection apparatus is configured to determine a motion state of the corresponding ith mechanical joint according to the pressure, where the motion state of the mechanical joint is floating, touching or overshooting.

In application, the control module 110 of the ith pressure detection device may determine a motion state of the corresponding ith mechanical joint according to the pressure, where the motion state of the mechanical joint may be suspension, contact or overshoot, where suspension indicates that the ith mechanical joint is not stressed, contact indicates that the ith mechanical joint is normally stressed, and overshoot indicates that the ith mechanical joint is excessively stressed.

Specifically, when the pressure is smaller than or equal to a first preset pressure, determining that the motion state of the corresponding ith mechanical joint is suspended; when the pressure is larger than the first preset pressure and smaller than or equal to the second preset pressure, determining the motion state of the corresponding ith mechanical joint as contact; when the pressure is larger than a second preset pressure, determining the motion state of the corresponding ith mechanical joint as overshoot; wherein the second preset pressure is greater than the first preset pressure.

In application, when the robot 200 is a robot dog including four mechanical legs, the movement state of the contact may include touchdown and standing, specifically, when the pressure is greater than the first preset pressure and less than or equal to the third preset pressure, determining that the movement state of the corresponding ith mechanical joint is touchdown; and when the pressure is greater than the third preset pressure and less than or equal to the second preset pressure, determining that the motion state of the corresponding ith mechanical joint is standing. The first preset pressure may be specifically 0, the third preset pressure may be specifically 20N, and the second preset pressure may be specifically 100N.

Fig. 10 illustrates a schematic deformation diagram of the buffer module 130 when the motion state of the mechanical joint is suspension, touchdown, standing and overshoot, and specifically, the motion state of the mechanical joint may refer to the deformation shape 131 of the buffer module 130 when the motion state of the mechanical joint is suspension, and no deformation occurs; when the motion state of the mechanical joint is ground contact, the deformation shape 132 of the buffer module 130 can be referred, and the deformation distance is L1; the deformation shape 133 of the buffer module 130 can be referred to when the motion state of the mechanical joint is standing, and the deformation distance is L2; when the motion state of the mechanical joint is overshooting, the deformation shape 134 of the buffer module 130 can be referred to, and the deformation distance is L3.

In application, assuming that the robot 200 is a robot dog including four mechanical legs, the 1 st mechanical joint is a left front mechanical leg, the 2 nd mechanical joint is a right front mechanical leg, the 3 rd mechanical joint is a left rear mechanical leg, the 4 th mechanical joint is a right rear mechanical leg, and the motion state of the robot dog may be standing, jumping, walking or running, when the motion states of the 4 mechanical joints are all standing, the motion state of the corresponding robot dog is standing; when the motion states of the 4 mechanical joints are all suspended, the motion state of the corresponding machine dog is jumping; when the motion states of the 1 st mechanical joint and the 4 th mechanical joint are overshot, the motion states of the 2 nd mechanical joint and the 3 rd mechanical joint are suspended, or when the motion states of the 2 nd mechanical joint and the 3 rd mechanical joint are overshot, the motion states of the 1 st mechanical joint and the 4 th mechanical joint are suspended, the motion states of the corresponding machine dog are walking; when the 1 st mechanical joint and the 2 nd mechanical joint are overshot and the 3 rd mechanical joint and the 4 th mechanical joint are suspended, or when the 3 rd mechanical joint and the 4 th mechanical joint are overshot and the 1 st mechanical joint and the 2 nd mechanical joint are suspended, the corresponding motion state of the machine dog is running;

in addition, the motion state of the machine dog can be ground contact during walking or ground contact during running, which means the instant state of the machine dog with two legs in the walking or running process, specifically, when the motion state of the 1 st mechanical joint and the 4 th mechanical joint is ground contact, the motion state of the 2 nd mechanical joint and the 3 rd mechanical joint is suspended, or when the motion state of the 2 nd mechanical joint and the 3 rd mechanical joint is ground contact, the motion state of the 1 st mechanical joint and the 4 th mechanical joint is suspended, the corresponding motion state of the machine dog is ground contact during walking; when the 1 st mechanical joint and the 2 nd mechanical joint are in touch with the ground, the 3 rd mechanical joint and the 4 th mechanical joint are in suspension, or when the 3 rd mechanical joint and the 4 th mechanical joint are in touch with the ground, the 1 st mechanical joint and the 2 nd mechanical joint are in suspension, and the motion state of the corresponding machine dog is in touch with the ground during running.

It should be noted that the above-mentioned preset motion state relationship is only exemplary, and the present application does not limit any specific type of motion state of the mechanical joint, specific type of motion state of the robot 200, and specific correspondence relationship of the preset motion state relationship.

In an application, the main controller 210 may receive a control instruction transmitted by a user, where the control instruction is used to determine a preset motion state of the robot 200 or a preset motion state of each mechanical joint. The main controller 210 may determine whether the motion state of the robot 200 is the same as the preset motion state of the robot 200, and calibrate the motion state of the robot 200 according to the preset motion state of the robot 200 when the motion state of the robot 200 is different from the preset motion state of the robot 200; the main controller 210 may also determine whether the motion state of each mechanical joint is the same as the corresponding preset motion state, and calibrate the motion state of any one of the mechanical joints according to the corresponding preset motion state when the motion state of any one of the mechanical joints is different from the corresponding preset motion state, so as to reduce or reduce the deviation when the motion state of the robot 200 or the mechanical joint has the deviation, and improve the control accuracy of the robot 200.

In application, by installing the pressure detection device 100 in the mechanical joints of the robot 200, the motion state of the corresponding mechanical joint can be obtained through the control module 110 of the pressure detection device 100, and the motion state of the robot 200 is determined according to the motion state of each mechanical joint, so that the accuracy of pressure detection of each mechanical joint can be improved, the accuracy of judgment of the motion state of the robot 200 can be improved, the current accurate motion state of the robot 200 can be captured in real time by the main controller 210 of the robot 200, real-time calibration can be performed when deviation exists in the motion state, and the control progress of the robot 200 can be improved.

As shown in fig. 11, the pressure detection method provided by the embodiment of the present application is applied to the robot provided by the above embodiment, and includes the following steps S1101 and S1102:

step 1101, acquiring the motion state of the corresponding mechanical joint through control modules of n pressure detection devices;

step S1102, determining a motion state of the robot according to the motion states of the n mechanical joints.

In application, the pressure detection method applied to the robot may be described with reference to the related functions of the above-mentioned main controller, which is not described herein.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various pressure detection method embodiments described above.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. The pressure detection device is characterized by comprising a control module, an optical ranging module and a buffer module, wherein the optical ranging module is connected with the control module;

the buffer module deforms when being subjected to external pressure;

the optical ranging module is used for measuring the distance between the optical ranging module and the buffer module and sending the distance to the control module;

the control module is used for determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a preset corresponding relation between the magnitude of the external pressure received by the buffer module and the distance.

2. The pressure sensing apparatus of claim 1, further comprising an angle sensing module, the angle sensing module coupled to the control module;

the buffer module deforms when the stress surface is subjected to external pressure;

the optical ranging module is used for measuring the distance between the optical ranging module and a preset ranging point of the buffer module and sending the distance to the control module;

the angle detection module is used for acquiring a deviation angle between a preset connecting line and the stressed surface and sending the deviation angle to the control module, and the preset connecting line is a connecting line between a luminous point of the optical ranging module and the preset ranging point;

the control module is used for determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a corresponding relation among the magnitude of the preset external pressure received by the buffer module, the distance and the offset angle.

3. The pressure detection apparatus of claim 2, further comprising a convergence module disposed between the optical ranging module and a preset ranging point of the buffer module;

the light pulses emitted by the optical ranging module are converged at a preset ranging point of the buffer module through the converging module.

4. A robot comprising a main controller, n mechanical joints, and n pressure detecting devices according to any one of claims 1 to 3, the ith pressure detecting device being mounted to the corresponding ith mechanical joint;

the main controller is respectively connected with the n control modules and is respectively connected with the n mechanical joints;

the optical ranging module of the ith pressure detection equipment is arranged in the corresponding ith mechanical joint, and the buffer module of the ith pressure detection equipment is connected with the corresponding ith mechanical joint;

the main controller is used for acquiring the motion states of the corresponding mechanical joints through the control modules of the n pressure detection devices, and determining the motion states of the robot according to the motion states of the n mechanical joints;

wherein i=1, 2, …, n, n is an integer greater than or equal to 1.

5. The robot of claim 4, wherein the control module of the ith pressure detection device is configured to determine a motion state of a corresponding ith mechanical joint according to the pressure, where the motion state of the mechanical joint is suspended, contacted, or overshot.

6. The robot of claim 5, wherein the control module of the ith pressure sensing apparatus is to:

when the pressure is smaller than or equal to a first preset pressure, determining that the motion state of the corresponding ith mechanical joint is suspended;

when the pressure is larger than the first preset pressure and smaller than or equal to the second preset pressure, determining the motion state of the corresponding ith mechanical joint to be contact;

when the pressure is larger than a second preset pressure, determining the motion state of the corresponding ith mechanical joint as overshoot;

wherein the second preset pressure is greater than the first preset pressure.

7. A pressure detection method, characterized by being applied to a control module of the pressure detection apparatus according to any one of claims 1 to 3, the method comprising:

measuring a distance through an optical ranging module to obtain the distance between the optical ranging module and a buffer module; wherein the buffer module deforms when being subjected to external pressure;

and determining the magnitude of the external pressure received by the buffer module according to the distance and a preset corresponding relation, wherein the preset corresponding relation is a preset corresponding relation between the magnitude of the external pressure received by the buffer module and the distance.

8. The method for detecting pressure according to claim 7, wherein before determining the magnitude of the external pressure applied to the buffer module according to the distance and the preset correspondence, the method further comprises:

applying m external calibration pressures to the buffer module;

when the q-th external calibration pressure is applied to the buffer module, acquiring the q-th external calibration pressure received by the buffer module, and measuring the q-th calibration distance through the optical ranging module;

establishing a preset corresponding relation according to the m times of external calibration pressure and m times of calibration distances corresponding to each other one by one;

wherein q=2, …, m, m is an integer greater than or equal to 2.

9. A pressure detection method, characterized by being applied to the main controller of the robot according to any one of claims 4 to 6, comprising:

acquiring the motion state of the corresponding mechanical joint through control modules of n pressure detection devices;

and determining the motion state of the robot according to the motion states of the n mechanical joints.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the pressure detection method according to any one of claims 7 to 9.