CN113848965A - Tumbling detection method and system for crawling robot - Google Patents
Tumbling detection method and system for crawling robot Download PDFInfo
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Abstract
The invention provides a tumble detection method and a tumble detection system for a crawling robot, which relate to the technical field of robot detection and comprise the following steps: each mechanical arm of the crawling robot is provided with at least one group of driving devices, each driving device is connected with a controller of the crawling robot, and each group of driving devices comprises a driving motor and a driving joint connected with the driving motor; acquiring and outputting real-time joint position data of the driving joints aiming at each group of driving devices; the controller respectively calculates position difference values between the real-time joint position data and preset motor position data correspondingly connected with the driving motor, and when the position difference values are larger than a first difference value threshold value, the controller controls the driving device to stop acting and outputs an alarm prompt representing that the crawling robot is in a falling state, so that an operator of the crawling robot can check and process the alarm prompt. The beneficial effects are that: the falling false alarm rate of the crawling robot is reduced while the falling detection accuracy of the crawling robot is effectively improved.
Description
Technical Field
The invention relates to the technical field of robot detection, in particular to a tumble detection method and system for a crawling robot.
Background
The robot of crawling that has now can walk under non-specific environment to accomplish given task action, because the walking environment is unknown, the problem of falling down can appear in the inevitable under the circumstances a bit, and then unable correctly carry out follow-up task action, it arouses the robot damage easily to fall down simultaneously, consequently need urgently to detect the state of falling down of the robot of crawling in time, thereby the operator of the robot of crawling can be according to the task action of the robot of crawling of testing result real-time adjustment.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a tumble detection method for a crawling robot, wherein each mechanical arm of the crawling robot is provided with at least one group of driving devices, each driving device is connected with a controller of the crawling robot, and each group of driving devices comprises a driving motor and a driving joint connected with the driving motor;
the fall detection method specifically comprises the following steps:
step S1, acquiring and outputting real-time joint position data of the driving joints for each group of driving devices;
step S2, the controller calculates position difference values between the real-time joint position data and preset motor position data corresponding to the driving motor, and compares the position difference values with a preset first difference threshold value:
if the position difference is greater than the first difference threshold, then go to step S3;
if the position difference is not greater than the first difference threshold, returning to the step S1;
and step S3, the controller controls the driving device to stop acting and outputs a warning prompt for representing that the crawling robot is in a falling state, so that an operator of the crawling robot can check the warning prompt.
Preferably, the crawling robot is provided with a posture sensing device which is connected with the controller;
in step S2, if the position difference is not greater than the first difference threshold, the method further includes:
step a1, the controller compares the position difference value with a preset second difference threshold value respectively:
if the position difference is greater than the second difference threshold, then go to step A2;
if the position difference is not greater than the second difference threshold, returning to the step S1;
the second difference threshold is less than the first difference threshold;
step A2, the controller acquires the real-time pitch angle of the crawling robot through the attitude sensing device, and compares the real-time pitch angle with a preset pitch angle threshold value:
if the real-time pitch angle is smaller than the pitch angle threshold, turning to the step S3;
and if the real-time pitch angle is not smaller than the pitch angle threshold value, returning to the step S1.
Preferably, each group of driving devices further comprises a clutch, and the driving motor is connected with the driving joint through the clutch;
in step a2, if the real-time pitch angle is not smaller than the pitch angle threshold, the method further includes:
step B1, the controller obtains the output current of the driving motor and calculates the real-time torque of the clutch according to the output current;
step B2, the controller compares the real-time torque with a preset first torque threshold:
if the real-time torque is greater than the first torque threshold, then go to step B3;
if the real-time torque is not greater than the first torque threshold, then go to step S3;
step B3, the controller compares the real-time torque with a preset second torque threshold:
if the real-time torque is smaller than the second torque threshold, returning to the step S1;
if the real-time torque is not less than the second torque threshold, turning to step S3;
the first torque threshold is less than the second torque threshold.
Preferably, in step B1, the real-time torque is calculated according to the following formula:
wherein,
t is used to represent the real-time torque;
i is for representing the output current of the drive motor;
c is used for expressing the motor constant of the driving motor;
r is used to represent the gear ratio of the drive motor.
Preferably, an encoder is provided inside the driving joint, and in step S1, real-time joint position data of the corresponding driving joint is acquired by the encoder and output to the controller.
Preferably, the encoder comprises an incremental encoder and/or an absolute encoder.
Preferably, the posture sensing device is an inertial measurement unit disposed at a trunk portion of the robot.
A system for detecting falling of a crawling robot, which applies any one of the above methods for detecting falling of the crawling robot, the system for detecting falling specifically comprises:
a controller, the controller specifically comprising:
the data acquisition module is used for acquiring and outputting real-time joint position data of the driving joints in each group of driving devices;
the first processing module is connected with the data acquisition module and used for respectively calculating a position difference value between each real-time joint position data and preset motor position data correspondingly connected with the driving motor and generating a corresponding processing result when the position difference value is larger than a preset first difference value threshold;
and the warning prompt module is connected with the first processing module and used for controlling the driving device to stop acting and outputting a warning prompt representing that the crawling robot is in a falling state according to the processing result so as to enable an operator of the crawling robot to check and process the warning prompt.
Preferably, the crawling robot has an attitude sensing device, is connected to the controller, and then the controller further includes a second processing module, which is respectively connected to the first processing module and the warning prompt module, and the second processing module specifically includes:
the data comparison unit is used for comparing the position difference value with a preset second difference value threshold value when the position difference value is not larger than the first difference value threshold value, and generating and outputting a first comparison result when the position difference value is larger than the second difference value threshold value;
the second difference threshold is less than the first difference threshold;
and the first processing unit is connected with the data comparison unit and used for acquiring the real-time pitch angle of the crawling robot through the attitude sensing device according to the first comparison result, comparing the real-time pitch angle with a preset pitch angle threshold value, and generating the processing result and outputting the processing result to the warning prompt module when the real-time pitch angle is smaller than the pitch angle threshold value.
Preferably, each group of the driving devices further includes a clutch, the driving motor is connected to the driving joint through the clutch, and then the second processing module further includes a second processing unit connected to the first processing unit, and the second processing unit specifically includes:
the data processing subunit is used for acquiring the output current of the driving motor when the real-time pitch angle is not smaller than the pitch angle threshold value, and calculating the real-time torque of the clutch according to the output current;
the first comparison subunit is connected with the data processing subunit and used for comparing the real-time torque with a preset first torque threshold value, outputting a second comparison result when the real-time torque is greater than the first torque threshold value, and generating the processing result and outputting the processing result to the alarm prompt module when the real-time torque is not greater than the first torque threshold value;
the second comparison subunit is connected with the first comparison subunit and used for comparing the real-time torque with a preset second torque threshold value according to the second comparison result, and generating the processing result and outputting the processing result to the alarm prompt module when the real-time torque is not less than the second torque threshold value;
the first torque threshold is less than the second torque threshold.
The technical scheme has the following advantages or beneficial effects:
1) the falling state of the crawling robot can be detected in time, the falling detection accuracy of the crawling robot is effectively improved, and the false falling alarm rate of the crawling robot is reduced;
2) when the crawling robot is detected to be in a falling state, the driving device of the crawling robot is controlled to stop acting in time, so that idling or slipping of the driving device caused by falling of the crawling robot is avoided.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for detecting a fall of a crawling robot according to a preferred embodiment of the present invention;
FIG. 2 is a flowchart of a process for detecting an absence of a position difference greater than a first difference threshold in accordance with a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a process for determining when the pitch angle is not less than the pitch angle threshold in a preferred embodiment of the present invention;
fig. 4 is a schematic structural view of a fall detection system of a crawling robot according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In the preferred embodiment of the present invention, based on the above problems in the prior art, there is provided a method for detecting a tumbling of a crawling robot, as shown in fig. 4, each robot arm of the crawling robot has at least one set of driving devices 2, the driving devices 2 are connected to a controller 1 of the crawling robot, each set of driving devices 2 includes a driving motor 22 and a driving joint 21 connected to the driving motor 22;
as shown in fig. 1, the fall detection method specifically includes the steps of:
step S1, acquiring and outputting real-time joint position data of the driving joints for each group of driving devices;
step S2, the controller calculates position difference values between the real-time joint position data and the preset motor position data corresponding to the connected driving motors, and compares the position difference values with a preset first difference threshold value:
if the position difference is greater than the first difference threshold, then go to step S3;
if the position difference is not greater than the first difference threshold, returning to step S1;
and step S3, the controller controls the driving device to stop acting and outputs an alarm prompt for indicating that the crawling robot is in a falling state, so that an operator of the crawling robot can check the alarm prompt.
Specifically, in the present embodiment, during the normal walking and movement of the crawling robot, the motor position data of the driving motor 22 is consistent with the real-time joint position data of the driving joint 21. Therefore, since the motor position data of the driving motors 22 are correspondingly unchanged, the motor position data are preferably stored in the controller 1 in advance, the controller 1 acquires real-time joint position data of the driving joints 21 of each group of driving devices 2 in real time, and determines that the crawling robot is currently in a tumbling state when detecting that the difference value between the real-time joint position data of at least one driving joint 21 and the preset motor position data of the driving motor 22 correspondingly connected is greater than the first difference threshold value, and in addition to outputting a corresponding warning prompt, the controller 1 controls the driving devices 2 to stop operating, that is, the crawling robot stops current action, so as to avoid idling of the driving motors 22 or slipping of the clutches 23 connected with the driving motors 22.
The first difference threshold preferably has a relatively large value, so that false alarm caused by a small difference between real-time joint position data and preset motor position data is avoided.
In the preferred embodiment of the invention, the crawling robot is provided with a posture sensing device 3 which is connected with the controller 1;
in step S2, if the position difference is not greater than the first difference threshold, as shown in fig. 2, the method further includes:
step a1, the controller compares the position difference value with a preset second difference threshold value respectively:
if the position difference is greater than the second difference threshold, turning to step A2;
if the position difference is not greater than the second difference threshold, returning to step S1;
the second difference threshold is less than the first difference threshold;
step A2, the controller acquires the real-time pitch angle of the crawling robot through the attitude sensing device, and compares the real-time pitch angle with a preset pitch angle threshold value:
if the real-time pitch angle is smaller than the pitch angle threshold, turning to step S3;
if the real-time pitch angle is not less than the pitch angle threshold, the process returns to step S1.
Specifically, in this embodiment, since the first difference threshold preferably takes a larger value, while avoiding false alarm, a miss of fall detection may occur, that is, since the first difference threshold is selected too much, part of the conditions of the crawling robot when falling may not be detected. Preferably, a second difference threshold value smaller than the first difference threshold value is set, when the difference value between each real-time joint position data and each corresponding preset motor position data is smaller than the first difference threshold value, the difference value is continuously compared with the second difference threshold value, and when the difference value between the real-time joint position data of at least one driving joint and the preset motor position data of the corresponding connected driving motor is larger than the second difference threshold value, the crawling robot is judged to be in a tumbling state currently. Similarly, the selection of the second difference threshold can detect a partially omitted fall state, but the operation inconvenience caused by frequent fall alarm prompt due to false alarm is considered, and the second difference threshold cannot be set to a smaller value, so that the fall state of the crawling robot under partial conditions can not be detected.
In this embodiment, an attitude sensing device 3 connected to the controller 1 is disposed inside the crawling robot, the attitude sensing device 3 is preferably an inertial measurement unit, the current attitude of the crawling robot can be detected by the attitude sensing device 3, and the current attitude is preferably represented by a real-time pitch angle of the crawling robot. Because the crawling robot is when normal walking state, real-time pitch angle equals about minus 90 degrees, when the crawling robot falls down the state, is usually in a less pitch angle, consequently, through setting for a pitch angle threshold value to when the real-time pitch angle of the crawling robot is less than this pitch angle threshold value, judge that the crawling robot is currently in the state of falling down. The pitch angle threshold is preferably minus 50 degrees.
In the preferred embodiment of the present invention, each set of driving devices 2 further includes a clutch 23, and the driving motor 22 is connected to the driving joint 21 through the clutch 23;
in step a2, if the real-time pitch angle is not less than the pitch angle threshold, as shown in fig. 3, the method further includes:
step B1, the controller obtains the output current of the driving motor and calculates the real-time torque of the clutch according to the output current;
step B2, the controller compares the real-time torque with a preset first torque threshold:
if the immediate torque is greater than the first torque threshold, then proceed to step B3;
if the real-time torque is not greater than the first torque threshold, then go to step S3;
step B3, the controller compares the real-time torque with a preset second torque threshold:
if the real-time torque is smaller than the second torque threshold value, returning to the step S1;
if the real-time torque is not less than the second torque threshold, the process goes to step S3;
the first torque threshold is less than the second torque threshold.
Specifically, in this embodiment, in order to avoid the setting of the pitch angle threshold, the falling state of the crawling robot in some special cases is omitted, and it is further preferable that, when the pitch angle threshold is not less than the pitch angle threshold, whether the crawling robot is in the falling state is further determined by detecting the slip of the clutch 23 connecting the driving motor 22 and the driving joint 21. When the crawling robot is in a normal walking state, the real-time torque of the clutch 23 should be within a normal range, that is, a torque range formed by the first torque threshold and the second torque threshold. When the clutch 23 is not in the torque range, it may be determined that the crawling robot is currently in the tumbling state.
In the preferred embodiment of the present invention, in step B1, the real-time torque is calculated according to the following formula:
wherein,
t is used to represent the real-time torque;
i is used for representing the output current of the driving motor;
c is used for expressing a motor constant of the driving motor;
r is used to indicate the gear ratio of the drive motor.
In the preferred embodiment of the present invention, the encoder 211 is disposed inside the driving joint 21, and in step S1, the encoder 211 obtains the real-time joint position data of the corresponding driving joint 21 and outputs the real-time joint position data to the controller 1.
In a preferred embodiment of the present invention, the encoder 211 comprises an incremental encoder and/or an absolute encoder.
In a preferred embodiment of the present invention, the posture sensing device 3 is an inertial measurement unit installed at the trunk of the robot.
A system for detecting a fall of a crawling robot, which applies any one of the above methods for detecting a fall of a crawling robot, as shown in fig. 4, the system for detecting a fall specifically includes:
the data acquisition module 11 is used for acquiring and outputting real-time joint position data of the driving joints 21 in each group of driving devices 2;
the first processing module 12 is connected to the data acquiring module 12, and is configured to calculate a position difference between each piece of real-time joint position data and preset motor position data correspondingly connected to the driving motor 22, and generate a corresponding processing result when the position difference is greater than a preset first difference threshold;
and the warning prompt module 13 is connected with the first processing module 12 and is used for controlling the driving device 2 to stop acting according to the processing result and outputting a warning prompt representing that the crawling robot is in a tumbling state so as to enable an operator of the crawling robot to check and process the warning prompt.
In a preferred embodiment of the present invention, the crawling robot has an attitude sensing device 3, and is connected to the controller 1, and then the controller 1 further includes a second processing module 14, which is respectively connected to the first processing module 12 and the alarm prompting module 13, and the second processing module 14 specifically includes:
a data comparing unit 141, configured to compare the position difference with a preset second difference threshold when the position difference does not exist and is greater than the first difference threshold, and generate and output a first comparison result when the position difference exists and is greater than the second difference threshold;
the second difference threshold is less than the first difference threshold;
and the first processing unit 142 is connected to the data comparing unit 141, and is configured to acquire the real-time pitch angle of the crawling robot through the attitude sensing device 3 according to the first comparison result, compare the real-time pitch angle with a preset pitch angle threshold, and generate a processing result and output the processing result to the warning prompt module when the real-time pitch angle is smaller than the pitch angle threshold.
In a preferred embodiment of the present invention, each set of driving devices 2 further includes a clutch 23, the driving motor 22 is connected to the driving joint 21 through the clutch 23, and the second processing module 14 further includes a second processing unit 143 connected to the first processing unit 142, where the second processing unit 143 specifically includes:
the data processing subunit 1431 is configured to obtain an output current of the driving motor 22 when the real-time pitch angle is not smaller than the pitch angle threshold, and calculate a real-time torque of the clutch 23 according to the output current;
a first comparing subunit 1432, connected to the data processing subunit 1431, and configured to compare the real-time torque with a preset first torque threshold, output a second comparison result when the real-time torque is greater than the first torque threshold, and generate a processing result and output the processing result to the alarm prompting module 13 when the real-time torque is not greater than the first torque threshold;
the second comparing subunit 1433, connected to the first comparing subunit 1432, and configured to compare the real-time torque with a preset second torque threshold according to a second comparison result, and generate a processing result when the real-time torque is not less than the second torque threshold, and output the processing result to the alarm prompting module 13;
the first torque threshold is less than the second torque threshold.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. The falling detection method of the crawling robot is characterized in that each mechanical arm of the crawling robot is provided with at least one group of driving devices, each driving device is connected with a controller of the crawling robot, and each group of driving devices comprises a driving motor and a driving joint connected with the driving motor;
the fall detection method specifically comprises the following steps:
step S1, acquiring and outputting real-time joint position data of the driving joints for each group of driving devices;
step S2, the controller calculates position difference values between the real-time joint position data and preset motor position data corresponding to the driving motor, and compares the position difference values with a preset first difference threshold value:
if the position difference is greater than the first difference threshold, then go to step S3;
if the position difference is not greater than the first difference threshold, returning to the step S1;
and step S3, the controller controls the driving device to stop acting and outputs a warning prompt for representing that the crawling robot is in a falling state, so that an operator of the crawling robot can check the warning prompt.
2. The method of claim 1, wherein the crawling robot has a posture sensing device connected to the controller;
in step S2, if the position difference is not greater than the first difference threshold, the method further includes:
step a1, the controller compares the position difference value with a preset second difference threshold value respectively:
if the position difference is greater than the second difference threshold, then go to step A2;
if the position difference is not greater than the second difference threshold, returning to the step S1;
the second difference threshold is less than the first difference threshold;
step A2, the controller acquires the real-time pitch angle of the crawling robot through the attitude sensing device, and compares the real-time pitch angle with a preset pitch angle threshold value:
if the real-time pitch angle is smaller than the pitch angle threshold, turning to the step S3;
and if the real-time pitch angle is not smaller than the pitch angle threshold value, returning to the step S1.
3. The method for detecting the tumbling of a crawling robot as claimed in claim 2, wherein each set of said driving means further comprises a clutch, said driving motor being connected to said driving joints through said clutch;
in step a2, if the real-time pitch angle is not smaller than the pitch angle threshold, the method further includes:
step B1, the controller obtains the output current of the driving motor and calculates the real-time torque of the clutch according to the output current;
step B2, the controller compares the real-time torque with a preset first torque threshold:
if the real-time torque is greater than the first torque threshold, then go to step B3;
if the real-time torque is not greater than the first torque threshold, then go to step S3;
step B3, the controller compares the real-time torque with a preset second torque threshold:
if the real-time torque is smaller than the second torque threshold, returning to the step S1;
if the real-time torque is not less than the second torque threshold, turning to step S3;
the first torque threshold is less than the second torque threshold.
4. The fall detection method for a crawling robot according to claim 3, characterized in that in said step B1, said real-time torque is calculated according to the following formula:
wherein,
t is used to represent the real-time torque;
i is for representing the output current of the drive motor;
c is used for expressing the motor constant of the driving motor;
r is used to represent the gear ratio of the drive motor.
5. The method of detecting a fall of a crawling robot as claimed in claim 1, wherein an encoder is provided inside the driving joint, and in step S1, real-time joint position data of the corresponding driving joint is obtained by the encoder and outputted to the controller.
6. The fall detection method of a crawling robot as claimed in claim 5, characterized in that said encoder comprises an incremental encoder and/or an absolute encoder.
7. The method of detecting a fall of a crawling robot as claimed in claim 2, characterized in that said attitude sensing means are inertial measurement units placed on the trunk of said robot.
8. A system for detecting falls of a crawling robot, characterized in that it applies the method for detecting falls of a crawling robot according to any one of claims 1 to 7, and in that it comprises:
a controller, the controller specifically comprising:
the data acquisition module is used for acquiring and outputting real-time joint position data of the driving joints in each group of driving devices;
the first processing module is connected with the data acquisition module and used for respectively calculating a position difference value between each real-time joint position data and preset motor position data correspondingly connected with the driving motor and generating a corresponding processing result when the position difference value is larger than a preset first difference value threshold;
and the warning prompt module is connected with the first processing module and used for controlling the driving device to stop acting and outputting a warning prompt representing that the crawling robot is in a falling state according to the processing result so as to enable an operator of the crawling robot to check and process the warning prompt.
9. The system of claim 8, wherein the crawling robot has a posture sensing device, and is connected to the controller, and the controller further comprises a second processing module, and the second processing module is respectively connected to the first processing module and the alarm prompt module, and specifically comprises:
the data comparison unit is used for comparing the position difference value with a preset second difference value threshold value when the position difference value is not larger than the first difference value threshold value, and generating and outputting a first comparison result when the position difference value is larger than the second difference value threshold value;
the second difference threshold is less than the first difference threshold;
and the first processing unit is connected with the data comparison unit and used for acquiring the real-time pitch angle of the crawling robot through the attitude sensing device according to the first comparison result, comparing the real-time pitch angle with a preset pitch angle threshold value, and generating the processing result and outputting the processing result to the warning prompt module when the real-time pitch angle is smaller than the pitch angle threshold value.
10. The system for detecting the fall of a crawling robot as claimed in claim 9, characterized in that each set of said driving means further comprises a clutch, said driving motor is connected to said driving joint through said clutch, then said second processing module further comprises a second processing unit connected to said first processing unit, said second processing unit specifically comprises:
the data processing subunit is used for acquiring the output current of the driving motor when the real-time pitch angle is not smaller than the pitch angle threshold value, and calculating the real-time torque of the clutch according to the output current;
the first comparison subunit is connected with the data processing subunit and used for comparing the real-time torque with a preset first torque threshold value, outputting a second comparison result when the real-time torque is greater than the first torque threshold value, and generating the processing result and outputting the processing result to the alarm prompt module when the real-time torque is not greater than the first torque threshold value;
the second comparison subunit is connected with the first comparison subunit and used for comparing the real-time torque with a preset second torque threshold value according to the second comparison result, and generating the processing result and outputting the processing result to the alarm prompt module when the real-time torque is not less than the second torque threshold value;
the first torque threshold is less than the second torque threshold.
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| CN202111131883.6A CN113848965A (en) | 2021-09-26 | 2021-09-26 | Tumbling detection method and system for crawling robot |
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Application publication date: 20211228 |