KR20110083982A - Method and apparatus for diagnosing operation performance of mobile robot - Google Patents
Method and apparatus for diagnosing operation performance of mobile robot Download PDFInfo
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- KR20110083982A KR20110083982A KR1020100003989A KR20100003989A KR20110083982A KR 20110083982 A KR20110083982 A KR 20110083982A KR 1020100003989 A KR1020100003989 A KR 1020100003989A KR 20100003989 A KR20100003989 A KR 20100003989A KR 20110083982 A KR20110083982 A KR 20110083982A
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- mobile robot
- database
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- sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
Description
The present invention relates to a method and apparatus for diagnosing the operating performance of a mobile robot, which notifies the necessity of mechanical or electrical management and maintenance by diagnosing the operating performance of a humanoid robot, particularly a biped or multi-legged robot, which can be moved similar to a human.
Recently, with the development of robot technology, humanoid robots that can operate similarly to humans have been widely used. In particular, in the case of a biped or multi-legged walking robot, detailed control of the robot is required in order to stably walk without falling.
However, the walking robot gradually changes from the original normal situation in the long term of several months by implementing periodic repeated walking motion. For example, the fastening parts of the drive parts such as screws, pins, washers, and belts are loosened, or the elastic rubber parts of the soles are worn, and the elastic modulus value at the time of impact or contact area with the floor and the optimum impedance control gain may be changed. Can be. In addition, if the battery voltage gradually decreases as the battery is discharged at a short time in several hours, the initial PID gain value of the motor may be different from the value required for accurate motor control.
As such, when the mechanical conditions and electrical parameters are changed in the long term / short term, the walking performance of the walking robot is degraded. Therefore, it is necessary to diagnose this and inform the user of the necessity of mechanical or electrical management and repair.
The present invention provides a method and apparatus for diagnosing the operating performance of a mobile robot, which indicates the necessity of mechanical or electrical management and maintenance by diagnosing the operating performance of a humanoid robot, particularly a biped or multiped robot, which can move similarly to a human.
To this end, the method for diagnosing the operating performance of a mobile robot according to one aspect of the present invention is a method for diagnosing a deterioration of the operating performance of a mobile robot in which at least one sensor is installed. When performing the preset reference operation, the first database is acquired based on signals measured from at least one sensor, and when it is determined that the diagnosis of the operating performance of the mobile robot is necessary, the mobile robot performs the preset reference operation, and at least A second database is obtained based on the signals measured from one or more sensors, and the operating performance of the mobile robot is diagnosed based on the relevance between the signals of the first database and the second database.
At this time, diagnosing the operation performance of the mobile robot based on the relationship between the signals of the first database and the second database may be determined that the operation performance of the mobile robot is reduced as the relationship is weak.
Further, the relevance may be obtained from correlation coefficients between signals of the first database and the second database, or from contribution values between the signals of the first database and the second database.
In addition, the method for diagnosing the operating performance of a mobile robot according to another aspect of the present invention, in the above method, the first database is a signal measured from at least one sensor when the mobile robot in a normal operating state performs a predetermined reference operation Further comprising the first ZMP information calculated using the second database, the second database is determined that the diagnosis of the operating performance of the mobile robot is necessary to use a signal measured from at least one sensor when the mobile robot performs a predetermined reference operation The method may further include calculating the second ZMP information, and further including advancing the operating performance of the mobile robot based on the relation between the ZMP information of the first database and the second database.
According to an aspect of the present invention, an apparatus for diagnosing operating performance of a mobile robot includes: a database acquisition unit capable of acquiring a signal measured from at least one sensor installed in the mobile robot; A sensor signal comparison unit capable of comparing relations between databases stored in the database unit; And an operation performance determination unit for diagnosing the operation performance of the mobile robot based on the degree of relevance obtained from the sensor signal comparison unit.
At this time, the operation performance determination unit determines that the first database acquired from the database and the operation performance of the mobile robot are required when the mobile robot in the normal operation state obtained from the sensor comparison unit performs the preset reference operation, and thus the mobile robot determines in advance. When performing the set reference operation, the operation performance of the mobile robot can be diagnosed based on the relevance between the signals of the second database acquired from the database. The weaker the relevance, the lower the relevance of the mobile robot. Can be.
In addition, the apparatus for diagnosing the operating performance of the mobile robot according to one aspect of the present invention may further include a display unit displaying data relating to a sensor that causes the operating performance determining unit to determine that the operating performance of the mobile robot is deteriorated. The operation performance determination unit may further include an alarm generation unit for generating an alarm when it is determined that the operation performance of the mobile robot is reduced.
By using the above method and apparatus, when the operation performance of the walking robot is degraded, the user can be easily informed of the need for mechanical or electrical management and maintenance.
1 is a diagram illustrating a mobile robot to which a method and apparatus for diagnosing operation of a mobile robot according to an embodiment of the present invention are applied.
2 is a control block diagram illustrating a schematic configuration of an apparatus for diagnosing operating performance of a mobile robot according to an embodiment of the present invention.
3 is a diagram schematically illustrating a coordinate system of a mobile robot to which a method and apparatus for diagnosing operation of a mobile robot according to an embodiment of the present invention are applied.
4 is a view showing the trajectory of the current and torque signal obtained from the database unit of the operating performance diagnostic apparatus of the mobile robot according to an embodiment of the present invention.
5 is a flowchart illustrating a process of acquiring a first database of a method and apparatus for diagnosing operating performance of a mobile robot according to one embodiment of the present invention.
6 is a flowchart illustrating a method of diagnosing operating performance of a mobile robot and a method of diagnosing operating performance of a mobile robot according to an embodiment of the present invention.
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
1 is a diagram illustrating a mobile robot to which a method and apparatus for diagnosing operation of a mobile robot according to an embodiment of the present invention are applied.
The
2 is a control block diagram illustrating a schematic configuration of an apparatus for diagnosing operating performance of a mobile robot according to an embodiment of the present invention.
In FIG. 2, the left side shows the
The mobile robot operation
When the
As mentioned above, the database unit 22 in the mobile robot operation
At least one sensor may be installed in the
Once the first database has been acquired by the database acquisition unit 22, it is ready to diagnose the operating performance of the
When the second database is obtained as described above, the degree of relevance between the signals is calculated by comparing with the first database. The reason for calculating the relevance is as follows. Since the first database contains information of each signal when the
In this case, a method of calculating the degree of correlation between the signals of the first database and the second database is as follows. In other words, the relevance index value is calculated to determine the relevance between the signals. First, a method of determining the degree of correlation using a correlation coefficient will be described. Using the correlation coefficient, the determination index W for determining the relevance can be defined as follows.
f 1 (t) means the time-dependent value of the signal measured from a particular sensor of the first database, and f 2 (t) means the time-dependent value of the signal measured from any particular sensor of the second database. do. The value of the judgment index W has a range between -1 and 1, and a value closer to -1 or 1 means that the two functions are more related. Based on the absolute value of the determination index W, the closer the absolute value of the determination index W to 1, the greater the relevance of the two functions. In other words, a large relation means that the trajectories of two functions are similar over time, and a weak relation means that the trajectories of two functions are not similar. As such, the correlation may be determined by calculating correlation coefficients from the trajectories of two signals measured from the same sensor. In this case, the determination of whether the absolute value of the determination index W is between 0 and 1 based on the value may be variably set according to the design specification. For example, if the absolute value of the determination index W is 0.7 or more, the relevance is large. Therefore, the
In addition, the degree of relevance may be determined using the contribution value. N time records X (1), X (2),… simultaneously measured from 0 to T seconds. , X (N), Y (1), Y (2),... , Fourier transforms X (1) f, X (2) f,... , X (N) f, Y (1) f, Y (2) f,... If we compute Y (N) f, the spectra of the two signals at frequency f are
Where E is the ensemble mean and * denotes the conjugate transpose operator. If the time T and the number N of samples are large, the above equation can be written as
Here we define a vector of samples of each signal at frequency f,
If the above expressions (a) are expressed as the inner product of the spectral vector
The value of the contribution will have a value between 0 and 1, the closer to 1, the more similar the two signals are. Like the correlation coefficient, the state of the
3 is a diagram schematically illustrating a coordinate system of a mobile robot to which a method and apparatus for diagnosing operation of a mobile robot according to an embodiment of the present invention are applied. In FIG. 3, {B} represents the coordinate axis of the waist of the
If the sensor is an acceleration sensor mounted near the {B} coordinate system representing the waist of the
In addition, when the sensor is a six-axis force / torque sensor mounted near the {RF} {LF} coordinate system corresponding to the foot of the
In the case of using the 6-axis force / torque sensor, the above determination may also be performed using ZMP (Zero Moment Point) information calculated using the measured value. The ZMP information can be obtained using information such as the measurement result of the 6-axis force / torque sensor and the distance between the measuring point of the 6-axis force / torque sensor and the floor. When the
That is, the type of display and alarm according to the result value of each sensor signal may be determined as follows. If the acceleration signal or the signal of the 6-axis force / torque sensor is small in relation to each signal of the first database, the fastening portion of the
4 is a view showing the trajectory of the current and torque signal obtained from the database unit of the operating performance diagnostic apparatus of the mobile robot according to an embodiment of the present invention. 4 (a) is reference walking data of the
In addition, Figure 4 (c) is the required torque value and actual torque value of the six-axis force / torque sensor of the left leg ankle that is currently progressing at the time of diagnosis, (d) is the six axis of the right leg ankle The required torque value and actual torque value of the force / torque sensor. Comparing the two graphs, the torque value required by the 6-axis force / torque sensor in (d) is not well followed in the peak part, which is a large difference between the judgment index W of the correlation coefficient mentioned above. Make it appear. Accordingly, if there is an abnormality and there is no abnormality of other data, it is a problem of 6-axis force / torque sensor data writing, and other data also has a large value of the determination index W of the correlation coefficient. If there is an error, it can be judged that it is out of control or abnormal in the mechanical part. Since control is carried out except for the peak point, this can be judged as an abnormality of the 6-axis force / torque sensor mechanism.
In addition, if all sensor signals are unchanged and the absolute encoder (ABS) of a joint of the mobile robot (1) is weakly related to the existing signal and the performance is deteriorated, something is distorted or positioned between the absolute encoder and the motor. We can guess that is a little wrong. In other words, the user judges that the gear is slipped. More specifically, if the gear is a harmonic drive, the harmonic drive is judged to be twisted under a small load during the experiment. Can be judged to be wrong.
When an unspecified signal or noise occurs at the same time in the current sensor signal compared to the reference signal stored in the first database, it is determined as follows. If the signal is mixed in multiple and non-split, the controller is less likely to be simultaneously. Therefore, it can be judged by the friction sound caused by the looseness of the hardware. It can be determined that there is a problem in the power supply or communication line of the controller. In particular, when the signal of the power supply is turned off, it may be determined as a problem of the power supply, and when the signal of the power supply does not bounce, it may be determined as a communication problem.
If all the sensor signals are intact but only the current measurement signal of the motor is small, it can be determined as a controller failure. If only one controller has a low relevance to the reference signal of the first database, it is determined as a controller failure. If all controllers have a low relevance to the reference signal of the first database, there is little chance that all the controllers will fail. The current in the module is considered to be a problem with the current supply or the battery supplying the current.
Hereinafter, a method for diagnosing operating performance of a mobile robot by a method and a device for diagnosing operating performance of a mobile robot according to an embodiment of the present invention will be described with reference to FIGS. 5 and 6.
5 is a flowchart illustrating a process of acquiring a first database of a method and apparatus for diagnosing operating performance of a mobile robot according to one embodiment of the present invention. As mentioned earlier, the first database may be obtained by selling the
First, the
6 is a flowchart illustrating a method of diagnosing operating performance of a mobile robot and a method of diagnosing operating performance of a mobile robot according to an embodiment of the present invention. First, it is determined whether there is an operation performance diagnosis command of the
The
By using the above method and device, it is possible to easily inform the user of the necessity of mechanical or electrical management and maintenance when the operation performance of the walking robot is degraded. Based on this information, the user can find and move the cause The
1: mobile robot 2: body
4: head part 6: arm part
8: leg 12: sensor
20: mobile robot operation performance diagnosis device
22: database acquisition unit 24: sensor signal comparison unit
26: operation performance determination unit 28: display unit
30: alarm generating unit
Claims (10)
Obtaining a first database based on a signal measured from at least one sensor when the mobile robot in a normal operating state performs a preset reference operation;
If it is determined that a diagnosis of the operating performance of the mobile robot is necessary, the mobile robot performs the preset reference operation, obtains a second database based on signals measured from at least one or more sensors,
And a method of diagnosing operating performance of the mobile robot based on the degree of relevance between the signals of the first database and the second database.
Diagnosing the operating performance of the mobile robot based on the degree of relevance between the signals of the first database and the second database,
The weaker the degree of relevance, the operation performance diagnosis method of the mobile robot determines that the operating performance of the mobile robot is reduced.
And wherein said degree of association is obtained from a correlation coefficient between the signals of said first database and said second database.
And said relevance is obtained from contribution values between respective signals of said first database and said second database.
The first database further includes first ZMP information calculated using signals measured from at least one sensor when the mobile robot in a normal operating state performs a preset reference operation.
The second database further includes second ZMP information calculated using signals measured from at least one sensor when the mobile robot determines that a diagnosis of an operation performance of the mobile robot is required and the mobile robot performs a preset reference operation. and,
And diagnosing operating performance of the mobile robot based on the degree of association between the ZMP information of the first database and the second database.
A sensor signal comparison unit capable of comparing the degree of relevance between the signals stored in the database acquisition unit; And
And an operation performance determination unit for diagnosing the operation performance of the mobile robot based on the degree of relevance obtained from the sensor signal comparison unit.
The operation performance determining unit comprises: a first database acquired by the database obtaining unit when the mobile robot in a normal operating state obtained from the sensor comparing unit performs a preset reference operation;
The operation of the mobile robot is determined based on the degree of relevance between the signals of the second database acquired by the database acquisition unit when the mobile robot performs the preset reference operation because it is determined that a diagnosis of the operating performance of the mobile robot is required. Mobile performance diagnostic device for diagnosing performance.
The operation performance determining unit determines the operation performance of the mobile robot is determined that the lower the relevance of the operation performance of the mobile robot.
And a display unit for displaying data relating to a sensor which causes the mobile robot when the operating performance determiner determines that the operating performance of the mobile robot is deteriorated.
And an alarm generating unit for generating an alarm when the operating performance determining unit determines that the operating performance of the mobile robot is degraded.
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020100003989A KR20110083982A (en) | 2010-01-15 | 2010-01-15 | Method and apparatus for diagnosing operation performance of mobile robot |
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| KR1020100003989A KR20110083982A (en) | 2010-01-15 | 2010-01-15 | Method and apparatus for diagnosing operation performance of mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210114166A (en) | 2020-03-10 | 2021-09-23 | 주식회사 힐스엔지니어링 | Robot Care System |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210114166A (en) | 2020-03-10 | 2021-09-23 | 주식회사 힐스엔지니어링 | Robot Care System |
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