WO2022052693A1

WO2022052693A1 - Robot collision detection test method

Info

Publication number: WO2022052693A1
Application number: PCT/CN2021/110868
Authority: WO
Inventors: 杨跞; 王琰; 李秀娟; 汪宇星; 许楠; 李法设; 张一楠
Original assignee: 中科新松有限公司
Priority date: 2020-09-10
Filing date: 2021-08-05
Publication date: 2022-03-17
Also published as: CN112092015B; CN112092015A

Abstract

The present application provides a robot collision detection test method, comprising: selecting an auxiliary test robot and a robot under test, and determining a mounting distance between the two; fixing a test device at an end of the auxiliary test robot, and connecting the test device to an acquisition device; calculating a spatial collision point of the auxiliary test robot according to relative positions of the robot under test and the auxiliary test robot and a spatial collision point of the robot under test so as to acquire a collision test set; and during a quasi-static test, controlling the end of the auxiliary test robot to move to the spatial collision point of the auxiliary test robot, and controlling the robot under test to collide, at the spatial collision point of the robot under test, with the test device at the end of the auxiliary test robot, wherein the acquisition device records a peak value and a steady-state value of a collision force during a collision between the robot under test and the auxiliary test robot.

Description

Robot Collision Detection Test Method

This application claims the priority of a Chinese patent application with application number 202010945801.0 filed with the China Patent Office on September 10, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application belongs to the field of robots, and for example, relates to a robot collision detection test method.

Background technique

With the extensive expansion of the application scenarios of interaction and collaboration between robots and humans, people have put forward higher requirements for the functional safety of robots, especially the safety of collaborative robots in human-robot cooperation. Collision detection is a limitation of human-robot cooperation. an important safety feature. For the robot, the collision during its operation may occur in any part and pose of it. Therefore, the test of the cooperative force performance of the robot needs to meet the following requirements: cover most of the surface of the robot; cover the movement space of the robot; fully simulate various collision conditions and dynamic processes between the robot and the human.

The testing method in the related art needs to continuously change the spatial position of the testing device to meet the requirements of the testing set. However, since the replacement of the spatial position of the test device requires manual operation, and there are usually dozens or even hundreds of test poses of a robot, the test efficiency is very low. Moreover, since it is difficult to find an accurate position in the robot base coordinate system when changing the spatial position of the test device, it is easy to cause deviation of the collision position. In addition, it is difficult for the testing methods in the related art to imitate the dynamic process of the position deviation of the person due to the impact during the collision between the real robot and the person.

SUMMARY OF THE INVENTION

The application provides a robot collision detection test method, including:

Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test;

Fix the test equipment on the end of the auxiliary test robot, connect the test equipment with the acquisition equipment, and set the acquisition equipment to collect the test data output by the test equipment;

According to the relative position of the tested robot and the auxiliary test robot and the spatial collision point of the tested robot, the spatial collision point of the auxiliary test robot is calculated. The multiple spatial collision points of the auxiliary test robot constitute the auxiliary test robot in the auxiliary test robot. Collision test set in Cartesian space of ;

In the case of quasi-static test, control the end of the auxiliary test robot to move to the space collision point of the auxiliary test robot, and control the tested robot to hit the test equipment at the end of the auxiliary test robot at the space collision point of the tested robot, and collect the records of the equipment. The peak and steady state value of the collision force when the robot under test collides with the auxiliary test robot.

Description of drawings

FIG. 1 is a flowchart of a robot collision detection test method provided by an embodiment of the present application.

FIG. 2 is an arrangement diagram of an auxiliary test robot, a robot under test, a test device, and a collection device in a robot collision detection test method provided by an embodiment of the present application.

FIG. 3 is a flow chart of a collision between an auxiliary test robot and a robot under test in a quasi-static test case in a robot collision detection test method provided by an embodiment of the present application.

FIG. 4 is a flow chart of a collision between an auxiliary test robot and a robot under test in a dynamic test situation in a robot collision detection test method provided by an embodiment of the present application.

detailed description

The illustrative embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements/members with the same or similar reference numerals used in the drawings and the embodiments are intended to represent the same or similar parts.

The "first", "second", . .

As used herein, "comprising," "including," "having," "containing," and the like, are open-ended terms, meaning including but not limited to.

As used herein, "and/or" includes any and all combinations of the stated things.

As used herein, "a plurality" includes "two" and "two or more"; as used herein, "a plurality of groups" includes "two groups" and "two or more groups."

As used herein, the terms "substantially", "about" and the like are used to modify any quantity or error that may vary slightly, but which does not alter its essence. In general, the range of nuance or error modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other numerical values. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.

Certain terms used to describe the application are discussed below or elsewhere in this specification to provide those skilled in the art with additional guidance in the description of the application.

As shown in Figure 1, the robot collision detection test method provided by the present application includes the following steps:

S1. Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test.

As shown in Figure 2, the tested robot A and the auxiliary test robot B are fixedly installed in appropriate positions.

In order to test the collision safety performance of the robot A under test, the installation distance between the auxiliary test robot B and the robot A under test needs to satisfy: the smart workspace of the auxiliary test robot B covers the collision detection test space of the robot A under test. Among them, the collision detection test space of the tested robot A has been specified by the robot manufacturer before leaving the factory.

In order to test the crash safety performance of the robot A under test, multiple auxiliary test robots can be selected, or a larger-sized auxiliary test robot can be selected.

S2. As shown in Figure 2, the test equipment is fixed at the end of the auxiliary test robot, and the test equipment is connected with the acquisition equipment, and the acquisition equipment is set to collect the test data output by the test equipment.

Considering the diversity of collision directions in the crash test and the singleness of the test directions of the test equipment, an auxiliary test robot with at least 6 degrees of freedom is selected.

S3. According to the relative positions of the tested robot A and the auxiliary test robot B and the spatial collision point of the tested robot A, the spatial collision point of the auxiliary test robot B is calculated and obtained. The auxiliary test robot B consists of multiple spatial collision points. The collision test set of auxiliary test robot B in the Cartesian space of auxiliary test robot B.

Assume that a space collision point of the tested robot A in the Cartesian space of the tested robot A is:

^A P _i =[X Y Z P _BORG ],

Among them, [X Y Z] represents the collision direction, and [P _BORG ] represents the collision position.

The n space collision points of the tested robot A constitute the collision test set of the tested robot A in the Cartesian space of the tested robot A: ^A P _{i(i=1,2,...,n)} ∈{A}.

When the auxiliary test robot B collides with the tested robot A at a collision point in space, the directions are opposite and the positions are the same, then a space collision point of the auxiliary test robot B in the Cartesian space of the auxiliary test robot B is:

in,

Represents the transformation matrix from the Cartesian space of the tested robot A to the Cartesian space of the auxiliary test robot B. The conversion matrix is calculated according to the relative positions of the tested robot A and the auxiliary test robot B during the test.

The n space collision points of the auxiliary test robot B constitute the collision test set of the auxiliary test robot B in the Cartesian space of the auxiliary test robot B: ^B P _{i(i=1,2,...,n)} ∈{B}.

It should be noted that the inverse kinematics solution function ikine can be used to obtain the inverse solution of the robot kinematics for the collision test set {B}, and the joint position set {q _B } of the auxiliary test robot can be obtained, which is convenient for the actual control process. Control the joint motion of the auxiliary test robot.

S4. As shown in Figure 3, in the case of quasi-static test, control the end of the auxiliary test robot B to move to the space collision point of the auxiliary test robot B, and control the tested robot A to the space collision point of the tested robot A Hit the test equipment at the end of the auxiliary test robot B, and the collection equipment records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B. The process of S4 is:

S41. Control the end of the auxiliary test robot B to move to the space collision point ^B P _i , control the end of the tested robot A to hit the space collision point ^A P _i from the collision direction [X Y Z], and the collection device records the test robot A and the auxiliary Test the peak and steady-state values of the collision force when Robot B collides.

Since the spatial collision points ^A P _i and ^B P _i have opposite directions and the same positions in their respective Cartesian spaces, the collision process is also a process in which the tested robot A hits the test equipment at the end of the auxiliary test robot B. During the collision process, the acquisition device records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B.

S42. The tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point ^A P _i+1 of the tested robot A, and the end of the auxiliary test robot B runs to The next spatial collision point of the auxiliary test robot B is ^B P _i+1 , and the next test is performed.

After each collision occurs, a single collision end signal is given by the acquisition device or the operator.

S43. Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. If all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S42, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.

It should be noted that in the case of quasi-static testing, the auxiliary test robot B does not enter the impedance mode, and the end of the auxiliary test robot B remains stationary after moving to the collision point in space and before colliding with the robot A under test.

Using the robot collision detection test method provided in the present application, the test equipment is fixed at the end of the auxiliary test robot. During the test, the space position of the test equipment can be changed by rotating the joints of the auxiliary test robot without reinstalling or fixing the test equipment. equipment, thereby greatly improving the test efficiency. In addition, since the relative positions of the auxiliary test robot and the tested robot are known, and the collision test set of the auxiliary test robot in space is obtained by calculation, the auxiliary test robot can be controlled to accurately reach the space collision point of the tested robot.

In order to simulate the dynamic process of the positional deviation of the personnel due to the impact during the collision between the real robot and the human, the robot collision detection test method of the present application further includes the following steps:

S5. As shown in Figure 4, in the case of dynamic testing, make the auxiliary test robot B enter the impedance mode, control the end of the auxiliary test robot B to move to the space collision point, and control the tested robot A to hit the auxiliary test robot at the space collision point The test equipment at the end of the test robot B, the collection equipment records the peak value and steady-state value of the collision force when the tested robot A collides with the auxiliary test robot B. The process of S5 is:

S51 , adjust the auxiliary test robot to enter the impedance mode, and adjust appropriate impedance parameters to simulate the process in which the tested robot A hits a real object or person.

Illustratively, compliance is achieved by adjusting the dynamic characteristics between the position where the assistant test robot collides and the impact force.

The relationship between the rebound force F after the auxiliary test robot deviates from the position before the impact and the motion state of the auxiliary test robot after the impact is:

In the formula,

represents the acceleration of the auxiliary test robot after being hit,

represents the speed of the auxiliary test robot after being impacted, and x represents the offset displacement of the auxiliary test robot after being impacted. r, c, and k all represent the impedance coefficient, where r is used to simulate the weight of the human body, and its value can be r=40～70kg; k is used to simulate the elasticity of the human skin surface, and its value can be k=0～70kg 100N/m; c is used to simulate the resistance of human skin surface, and its value can be c=50～500N/(m/s).

S52, control the end of the auxiliary test robot B to move to the space collision point ^B P _i , and control the end of the tested robot A to hit the space collision point ^A P _i from the collision direction [X Y Z]; in the collision process, the collection device records The peak value and steady state value of the collision force when the tested robot A collides with the auxiliary test robot B.

S53. The tested robot A and the auxiliary test robot B obtain a single collision end signal, the end of the tested robot A runs to the next space collision point ^A P _i+1 , and the end of the auxiliary test robot B runs to the next space The collision point is ^B P _i+1 , and the next test is performed.

S54. Determine whether all the spatial collision points in the collision test set of the auxiliary test robot B have been tested. In the case where all the spatial collision points in the collision test set of the auxiliary test robot B have been tested, save the data and end the test; In the case where the spatial collision points in the collision test set of the test robot B are not all tested, return to step S53, and continue to control the tested robot A to hit the test equipment at the end of the auxiliary test robot B at the next spatial collision point until all tests are completed. the space collision point.

It should be noted that, in the case of dynamic testing, the auxiliary test robot B enters the impedance mode, and the end of the auxiliary robot B simulates the process of being knocked off during the process of moving to the collision point in space and before colliding with the robot A under test.

Using the robot collision detection test method provided in this application, by setting the auxiliary test robot to the impedance mode and adjusting the appropriate impedance parameters, the biomechanical characteristics of the human body can be simulated, and the real collision process between the robot under test and the person can be better simulated .

The above-described embodiments of the present application may be implemented in various hardware, software coding, or a combination of both. For example, the embodiments of the present application may also represent program codes for executing the above methods in a data signal processor. The application may also relate to various functions performed by computer processors, digital signal processors, microprocessors, or field programmable gate arrays. The above-described processors may be configured in accordance with the present application to perform specific tasks by executing machine-readable software code or firmware code that defines the specific methods disclosed herein. The software code or firmware code may be developed to represent different programming languages and different formats or forms. Software code can also be compiled to represent different target platforms. However, different code styles, types and languages of software code and other types of configuration code to perform tasks in accordance with this application do not depart from the spirit and scope of this application.

Claims

A robot collision detection test method, comprising:

Select the auxiliary test robot and the robot under test, and determine the installation distance between the auxiliary test robot and the robot under test;

Fix the test equipment at the end of the auxiliary test robot, connect the test equipment with the acquisition equipment, and set the acquisition equipment to collect the test data output by the test equipment;

According to the relative position of the tested robot and the auxiliary test robot and the spatial collision point of the tested robot, the spatial collision point of the auxiliary test robot is calculated. The multiple spatial collision points of the auxiliary test robot constitute the auxiliary test robot in the auxiliary test robot. Collision test set in Cartesian space of ;

In the case of quasi-static testing, the end of the auxiliary test robot is controlled to move to its collision point, and the robot under test is controlled to hit the test equipment at the end of the auxiliary test robot at the space collision point of the robot under test. The peak and steady state value of the collision force when the auxiliary test robot collides.
The method according to claim 1, wherein the installation distance between the auxiliary test robot and the robot under test needs to satisfy: the working space of the auxiliary test robot covers the collision detection test space of the robot under test.
The method of claim 1, wherein the auxiliary test robot has at least 6 degrees of freedom.
The method according to claim 1, wherein, according to the relative position of the robot under test and the auxiliary test robot and the space collision point of the robot under test, the process of calculating the collision test set of the auxiliary test robot is:

Assume that a space collision point of the robot under test (A) in the Cartesian space of the robot under test (A) is:

A P i =[X Y Z P BORG ],

Among them, [X Y Z] represents the collision direction, and [P BORG ] represents the collision position;

The n space collision points of the robot under test (A) constitute the collision test set of the robot under test (A) in the Cartesian space of the robot under test (A): A P i(i=1,2,…,n ) ∈ {A};

When the auxiliary test robot (B) collides with the tested robot (A) at a collision point in a space, the direction is opposite and the position is the same, then the auxiliary test robot (B) is in a space within the Cartesian space of the auxiliary test robot (B). The collision point is:

in,
Represents the transformation matrix from the Cartesian space of the robot under test (A) to the Cartesian space of the auxiliary test robot (B) according to the relative positions of the robot under test (A) and the auxiliary test robot (B) during testing calculated;

The n space collision points of the auxiliary test robot (B) constitute the collision test set of the auxiliary test robot (B) in the Cartesian space of the auxiliary test robot (B): B P i(i=1,2,...,n )∈{B}.
The method according to claim 1, wherein, in the case of quasi-static testing, the end of the auxiliary test robot is controlled to move to a space collision point of the auxiliary test robot, and the robot under test is controlled at the space collision point of the robot under test. The process of recording the peak value and steady state value of the collision force when the robot under test collides with the auxiliary test robot is as follows:

Control the end of the auxiliary test robot (B) to move to the space collision point B P i , control the end of the tested robot (A) to hit the space collision point A P i from the collision direction [X Y Z], and the acquisition device records the measured robot ( A) The peak value and steady state value of the collision force when colliding with the auxiliary test robot (B);

The tested robot (A) and the auxiliary test robot (B) obtain a single collision end signal, and the end of the tested robot (A) runs to the next spatial collision point A P i+1 of the tested robot (A). The end of the test robot (B) runs to the next space collision point B P i+1 of the auxiliary test robot (B), and the next test is performed;

Determine whether all the space collision points in the collision test set of the auxiliary test robot (B) have been tested, and save the data and end the test when all the space collision points in the collision test set of the auxiliary test robot (B) have been tested; Continue to control the robot under test (A) to hit the test equipment at the end of the auxiliary test robot (B) at the next collision point in the space when all the spatial collision points in the collision test set of the auxiliary test robot (B) have not been tested. Until all space collision points are tested.
The method according to any one of claims 1 to 5, further comprising:

In the case of dynamic testing, make the auxiliary test robot enter impedance mode, control the end of the auxiliary test robot to move to the space collision point, and control the tested robot to hit the test equipment at the end of the auxiliary test robot at the space collision point. The peak value and steady state value of the collision force when the test robot collides with the auxiliary test robot.
The method according to claim 6, wherein, in the case of dynamic testing, the auxiliary testing robot is made to enter the impedance mode, the end of the auxiliary testing robot is controlled to move to the collision point in space, and the robot under test is controlled at the collision point in space The process of impacting the test equipment at the end of the auxiliary test robot, and the acquisition equipment recording the peak value and steady-state value of the collision force when the robot under test collides with the auxiliary test robot is as follows:

Adjust the auxiliary test robot to enter the impedance mode, and adjust the impedance parameters to simulate the process of the robot under test (A) hitting a real object or person;

Control the end of the auxiliary test robot (B) to move to the space collision point B P i , and control the end of the tested robot (A) to hit the space collision point A P i from the collision direction [X Y Z]; the acquisition device records the tested robot ( A) The peak value and steady state value of the collision force when colliding with the auxiliary test robot (B);

The tested robot (A) and the auxiliary test robot (B) obtain a single collision end signal, the end of the tested robot (A) runs to the next spatial collision point A P i+1 , and the end of the auxiliary test robot (B) Run to the next space collision point B P i+1 for the next test;

Determine whether all the space collision points in the collision test set of the auxiliary test robot (B) have been tested, and save the data and end the test when all the space collision points in the collision test set of the auxiliary test robot (B) have been tested; In the case where the spatial collision points in the collision test set of the auxiliary test robot (B) are not all tested, continue to control the robot under test (A) to hit the test equipment at the end of the auxiliary test robot (B) at the next collision point until Test all space collision points.
The method according to claim 7, wherein the auxiliary test robot is adjusted to enter the impedance mode, and the impedance parameters are adjusted to simulate the impact of the test robot (A) against a real object or person, and the auxiliary test robot is impacted The relationship between the rebound force F after deviating from the position before the impact and the motion state of the auxiliary test robot after the impact is:

In the formula,
represents the acceleration of the auxiliary test robot after being hit,
represents the speed of the auxiliary test robot after being impacted, and x represents the offset displacement of the auxiliary test robot after being impacted;

r, c, and k all represent impedance coefficients, where r is used to simulate the weight of the human body, k is used to simulate the elasticity of the human skin surface, and c is used to simulate the resistance of the human skin surface.