CN117961975A - Collision detection method and device, storage medium and electronic equipment - Google Patents
Collision detection method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a collision detection method, a collision detection device, a storage medium and electronic equipment, wherein the current encoder difference value is obtained, and the current encoder difference value is the difference value between the position of an output end encoder and the position of a motor end encoder at the current moment; acquiring the fluctuation amplitude of the current encoder difference value relative to the historical average value; and determining that collision occurs when the fluctuation amplitude is larger than the collision threshold value. Whether collision occurs or not is judged through the fluctuation amplitude of the current encoder difference value relative to the historical average value, and compared with the situation that whether collision occurs or not is judged directly based on the current encoder difference value, the collision detection method can ignore that the difference value between the output end encoder and the motor end encoder does not have regularity, and ensure the precision and the accuracy of collision detection.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a collision detection method, a device, a storage medium, and an electronic apparatus.
Background
With the continuous development of intelligent manufacturing, robots have become an indispensable tool in various industries, and in particular, industrial robots and collaborative robots are widely used. Compared with an industrial robot, the mass, inertia, power and the like of the cooperative robot are reduced, and the cooperative robot does not need to be limited to be used in a fence. At this time, the safety function of the cooperative robot needs to be improved. Among them, collision detection with respect to cooperative robots is an indispensable study.
How to accurately identify whether a collision has occurred becomes a problem of concern to those skilled in the art.
Disclosure of Invention
The present invention aims to provide a collision detection method, a collision detection device, a storage medium and an electronic device, so as to at least partially improve the problems.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a collision detection method, including:
Obtaining a current encoder difference value, wherein the current encoder difference value is a difference value between the position of an output end encoder and the position of a motor end encoder at the current moment;
Acquiring the fluctuation amplitude of the current encoder difference value relative to a historical average value;
and determining that collision occurs when the fluctuation amplitude is larger than a collision threshold value.
In a second aspect, an embodiment of the present invention provides a collision detection apparatus, the apparatus including:
the first processing unit is used for obtaining a current encoder difference value, wherein the current encoder difference value is a difference value between the position of the output end encoder and the position of the motor end encoder at the current moment;
The first processing unit is further used for obtaining the fluctuation amplitude of the current encoder difference value relative to a historical average value;
and the second processing unit is used for determining that collision occurs when the fluctuation amplitude is larger than a collision threshold value.
In a third aspect, an embodiment of the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor and a memory for storing one or more programs; the above-described method is implemented when the one or more programs are executed by the processor.
Compared with the prior art, the collision detection method, the device, the storage medium and the electronic equipment provided by the embodiment of the invention acquire the current encoder difference value, wherein the current encoder difference value is the difference value between the position of the output end encoder and the position of the motor end encoder at the current moment; acquiring the fluctuation amplitude of the current encoder difference value relative to the historical average value; and determining that collision occurs when the fluctuation amplitude is larger than the collision threshold value. Whether collision occurs or not is judged through the fluctuation amplitude of the current encoder difference value relative to the historical average value, and compared with the situation that whether collision occurs or not is judged directly based on the current encoder difference value, the collision detection method can ignore that the difference value between the output end encoder and the motor end encoder does not have regularity, and ensure the precision and the accuracy of collision detection.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an electronic device provided by the present invention;
FIG. 2 is a schematic flow chart of a collision detection method according to the present invention;
FIG. 3 is a second flow chart of the collision detection method according to the present invention;
FIG. 4 is a schematic diagram of filtering provided by the present invention;
FIG. 5 is a third flow chart of the collision detection method according to the present invention;
fig. 6 is a schematic diagram of a collision detecting device according to the present invention.
In the figure: 10-a processor; 11-memory; 12-bus; 13-a communication interface; 201-a first processing unit; 202-a second processing unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The joint motor of the cooperative robot comprises two encoders, wherein one encoder is a motor end encoder at the left side, an incremental photoelectric encoder is adopted, the other encoder is an output end encoder, and an absolute encoder is adopted. The motor end encoder (incremental photoelectric encoder) is connected to the output end encoder (absolute encoder) through a harmonic speed reducer.
In an alternative dual encoder collision detection approach, collision detection may be achieved by the inconsistency in the position signal changes detected by the two encoders when a collision event occurs. Specifically, the harmonic speed reducer has a certain flexibility, and can be assumed to be a spring damping system, when collision occurs, an output end encoder (absolute encoder) connected with the output end of the harmonic speed reducer firstly detects position abrupt change caused by collision, and the position change of the tail end of the joint can be reflected in real time due to rigid contact. The motor end encoder (incremental photoelectric encoder) can also detect collision, but because the harmonic speed reducer has certain flexibility, the harmonic speed reducer can be equivalently used as a spring, so that the position change of the harmonic speed reducer has certain time delay. The difference between the position signal detected by the absolute encoder and the position signal detected by the incremental photoelectric encoder is the error signal when collision occurs. Whether an error occurs or not is judged by setting a collision threshold value, so that collision detection is realized.
However, the motor end encoder (incremental photoelectric encoder) needs to be automatically calibrated after being electrified, which can lead to that when the cooperative robot is electrified, the difference between the output end encoder and the motor end encoder is not regular in different postures, and the difference between the two encoders may be too large. Under such conditions, the setting of the collision threshold value is affected, and when the difference value between the output end encoder and the motor end encoder changes, if the collision threshold value is not adjusted, the collision may be misidentified, that is, the collision result is inaccurate, so that the collision detection precision and accuracy are affected.
In order to overcome the problems, the embodiment of the application provides a collision detection method, which is used for performing collision detection according to the positions of double encoders in joint motors of a cooperative robot, and guaranteeing the precision and accuracy of collision detection. The collision detection method may be applied to, but is not limited to, the electronic apparatus hereinafter.
The embodiment of the invention provides electronic equipment which can be a central control system of a cooperative robot or equipment such as a mobile phone, a computer, a server and the like which are in communication connection with the cooperative robot. Referring to fig. 1, a schematic structure of an electronic device is shown. The electronic device comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, the processor 10 being adapted to execute executable modules, such as computer programs, stored in the memory 11.
The processor 10 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the collision detection method may be performed by integrated logic circuitry of hardware in the processor 10 or instructions in the form of software. The processor 10 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The memory 11 may comprise a high-speed random access memory (RAM: random Access Memory) or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
Bus 12 may be ISA (Industry Standard Architecture) bus, PCI (Peripheral Component Interconnect) bus, EISA (Extended Industry Standard Architecture) bus, or the like. Only one double-headed arrow is shown in fig. 1, but not only one bus 12 or one type of bus 12.
The memory 11 is used to store programs, such as programs corresponding to collision detection devices. The collision detection means comprise at least one software functional module which may be stored in the memory 11 in the form of software or firmware (firmware) or cured in the Operating System (OS) of the electronic device. The processor 10, upon receiving the execution instruction, executes the program to implement the collision detection method.
Possibly, the electronic device provided by the embodiment of the invention further comprises a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.
It should be understood that the structure shown in fig. 1 is a schematic structural diagram of only a portion of an electronic device, which may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The method for detecting collision provided in the embodiment of the present invention may be applied to, but not limited to, the electronic device shown in fig. 1, and referring to fig. 2, the method for detecting collision includes: s102, S106, S107, S108, and S109 are specifically described below.
S102, obtaining a current encoder difference value.
The current encoder difference value is the difference value between the position of the output end encoder at the current moment and the position of the motor end encoder at the current moment. Specifically, the current encoder difference = the position of the motor end encoder at the current time-the position of the output end encoder at the current time. The output end encoder and the motor end encoder both belong to joint motors of the cooperative robot.
The electronic device may periodically obtain the current encoder difference value according to a preset time interval, or obtain the current encoder difference value when receiving the trigger instruction, which is not limited herein.
S106, obtaining the fluctuation amplitude of the current encoder difference value relative to the historical average value.
In the invention, considering that the difference between the output end encoder and the motor end encoder does not have regularity, the difference of the double encoder may be too large, and whether collision occurs is not directly identified based on the current encoder difference and a threshold value. But actively acquires the fluctuation amplitude of the current encoder difference value relative to the historical average value, wherein the fluctuation amplitude can reflect whether the cooperative robot collides or not.
S107, it is determined whether the fluctuation amplitude is greater than the collision threshold. If yes, executing S108; if not, S109 is performed.
When a collision occurs with the cooperative robot, the current encoder difference value may increase, while its fluctuation amplitude with respect to the historical average value may increase. When the fluctuation range is larger than the collision threshold, it may be determined that a collision occurs, and S108 is performed. Otherwise, when the fluctuation range is smaller than or equal to the collision threshold, it cannot be determined whether a collision occurs, and it is necessary to wait for the current encoder difference value to be newly acquired next time, and re-judge, and then S109 is executed.
S108, determining that collision occurs.
S109, waiting for a preset time interval.
After S109, S102 is repeatedly executed, waiting for the current encoder difference value to be newly acquired next, and judging whether a collision occurs again.
In summary, the present invention provides a collision detection method, which obtains a current encoder difference, where the current encoder difference is a difference between a position of an output end encoder and a position of a motor end encoder at a current moment; acquiring the fluctuation amplitude of the current encoder difference value relative to the historical average value; and determining that collision occurs when the fluctuation amplitude is larger than the collision threshold value. Whether collision occurs or not is judged through the fluctuation amplitude of the current encoder difference value relative to the historical average value, and compared with the situation that whether collision occurs or not is judged directly based on the current encoder difference value, the collision detection method can ignore that the difference value between the output end encoder and the motor end encoder does not have regularity, and ensure the precision and the accuracy of collision detection.
In order to further ensure the accuracy and precision of collision detection on the basis of fig. 2, the embodiment of the present invention further provides an alternative implementation, please refer to fig. 3, and after the current encoder difference is obtained in S102, the collision detection method further includes: s103, S104, and S105 are specifically described below.
S103, performing spectrum analysis on the current encoder difference value based on the first historical difference value sequence.
The first history difference sequence comprises a preset number of history differences before the current moment, wherein the history differences are the differences between the position of the output end encoder at the history moment and the position of the motor end encoder at the history moment. Alternatively, the first sequence of historical differences includes a first predetermined number of valid historical differences ordered from small to large intervals from the current time.
By performing a spectral analysis, the frequency of occurrence of the current encoder difference and the magnitude of the current encoder difference relative to the first historical sequence of differences may be determined.
And performing Fourier transform to convert the acquired encoder difference value from the time domain to the frequency domain, wherein the following formula is shown. The specific operation can be performed by adopting the fft function in MATLAB, and the occurrence frequency of the current encoder difference value and the amplitude of the current encoder difference value can be obtained.
Wherein: is a frequency index; /(I) Is a time index; /(I)Is the length of the first historical difference sequence; /(I)Is a bottom of natural logarithm; /(I)Is an imaginary unit; /(I)Storing encoder differences for the first historical difference sequence; /(I)First/>, as first historical difference sequence in frequency domainThe real part of the complex representation of the frequency component represents the amplitude of the frequency component.
S104, determining whether the occurrence frequency of the current encoder difference value is smaller than a frequency threshold value and the amplitude value of the current encoder difference value is smaller than an amplitude threshold value. If yes, executing S105; if not, S106 is performed.
When the above condition is satisfied, it is indicated that the current encoder difference is a minute fluctuation value, which is not a main feature of the dual encoder, and it is necessary to filter it in order to avoid interference with the subsequent collision recognition, so S105 is performed. If filtering is not performed, when the difference value calculation is performed between the peak average value or the trough average value of the next moment and the previous N moments, the obtained result is too large, and collision recognition is easy to trigger. As shown in the above formula, taking a peak as an example, if a tiny fluctuation value exists, the fluctuation amplitude of stored peak data is smaller, so that the change rate of the encoder difference value at the current moment is amplified.
Wherein: Is the current encoder difference; /(I) The i-th historical difference value at the wave crest in the second historical difference value sequence; /(I)Is the rate of change of the current encoder difference, i.e. the fluctuation amplitude.
When the above condition is not satisfied, it is assumed that the current encoder difference is useful information, and it is necessary to reserve the useful information, and S106 may be executed. When the above condition is not satisfied, or after S106 is performed, the history difference sequence (including the first history difference sequence and the second history difference sequence later) may also be updated. Specifically, the current encoder difference is added to the history difference sequence (including the first history difference sequence and the second history difference sequence hereinafter), and the earliest one of the history difference sequences (including the first history difference sequence and the second history difference sequence hereinafter) is deleted, that is, the history difference corresponding to the history time instant farthest from the current time instant is deleted.
S105, deleting the current encoder difference value.
It should be noted that, after deleting the current encoder difference, the deleted current encoder difference is not added to the history difference sequence (including the first history difference sequence and the second history difference sequence, which are later described), and is not used for the subsequent collision recognition to calculate the history average value, so that the interference to the subsequent collision recognition is avoided, and the precision and accuracy of the collision detection are further ensured.
Referring to fig. 4, fig. 4 is a schematic diagram of filtering according to the present invention. If the occurrence frequency of the current encoder difference value is lower than the set frequency threshold value and the amplitude value of the current encoder difference value is smaller than the amplitude threshold value, weakening or eliminating the current encoder difference value is carried out, and smoothing processing is achieved. After S105, S109 may be performed, waiting for the current encoder difference value to be newly acquired next time, and re-judging.
In the invention, the historical average value comprises a first historical average value corresponding to the wave valley position in a second historical difference value sequence and a second historical average value corresponding to the wave peak position in the second historical difference value sequence, and the second historical difference value sequence comprises N historical difference values at wave troughs and N historical difference values at wave crests which are alternately distributed. The alternating distribution herein refers to an alternating distribution of the historical differences at the troughs and the historical differences at the peaks. The second history difference sequence comprises the first N history differences at wave troughs from small to large in interval order from the current moment and the first N history differences at wave crests from small to large in interval order from the current moment.
In the present invention, the first history difference sequence may be the same as or different from the second history difference sequence, which is not limited herein.
On the basis that the historical average value comprises a first historical average value corresponding to a wave trough position in the second historical difference value sequence and a second historical average value corresponding to a wave peak position in the second historical difference value sequence, the embodiment of the invention further provides an alternative implementation mode, please refer to the following, regarding how to accurately acquire the fluctuation amplitude so as to ensure the precision and the accuracy of collision detection. S106, the step of obtaining the fluctuation amplitude of the current encoder difference value relative to the historical average value comprises the following steps: s106-1, S106-2, S106-3, S106-4, and S106-5 are described in detail below.
S106-1, judging that the current encoder difference value is in the trough or the crest of the second historical difference value sequence. If the current encoder difference is in the trough of the second history difference sequence, executing S106-2; if the current encoder difference is at the peak of the second historical difference sequence, S106-4 is performed.
In order to accurately identify the variation of the current encoder difference, it is necessary to determine the comparison target of the current encoder difference first, that is, determine whether the current encoder difference is in a trough or a peak relative to the second historical difference sequence.I.e. regarded as/>The moment is in the trough; I.e. regarded as/> The moment is the wave crest; for other cases, the curve is in a rising, falling or horizontal state, where no peaks or troughs are recorded.
S106-2, obtaining a first historical average value corresponding to the wave trough position in the second historical difference value sequence.
And extracting the historical difference value corresponding to the wave valley position in the second historical difference value sequence, and calculating the average value of the historical difference value and the wave valley position as a first historical average value.
S106-3, determining the difference between the current encoder difference and the first historical average as the fluctuation amplitude.
The absolute value of the difference of the current encoder difference from the first historical average may be taken as the fluctuation amplitude.
S106-4, obtaining a second historical average value corresponding to the peak position in the second historical difference value sequence.
And extracting the historical difference value corresponding to the peak position in the second historical difference value sequence, and calculating the average value of the historical difference value and the peak position as a second historical average value.
S106-5, determining the difference between the current encoder difference and the second historical average as the fluctuation amplitude.
The fluctuation amplitude is the variation (also called as the variation amplitude) of the current encoder difference value, and the comparison target of the current encoder difference value is determined by identifying the trough or the crest of the second historical difference value sequence of the current encoder difference value, so that the identified fluctuation amplitude is more accurate.
Considering that the accuracy of collision detection is also affected by different stiffness coefficients of the harmonic speed reducer of the motor, in order to ensure the detection accuracy, the embodiment of the present invention further provides an optional implementation manner regarding how to set the collision threshold, please refer to fig. 5, and the collision detection method further includes, at the beginning of detection: s101 is specifically described below.
S101, determining a collision threshold according to rated torque of the motor, the length of the corresponding connecting rod and the rigidity coefficient of the harmonic speed reducer of the motor.
And multiplying the rated torque of the joint motor by the length of the corresponding connecting rod to obtain an external torque, and dividing the external torque by the rigidity coefficient of the harmonic speed reducer to obtain the collision threshold of the double encoder. The collision threshold value can be set in a grading mode, and collision false detection caused by the difference of the cooperative robots can be effectively avoided. The classification is mainly determined according to the magnitude of the external moment and is distinguished by the running speed of the robot. And determining an external torque fluctuation coefficient based on the speed, after multiplying the rated torque of the joint motor by the corresponding length of the connecting rod to obtain an external torque, adjusting the external torque based on the external torque fluctuation coefficient, and dividing the adjusted external torque by the rigidity coefficient of the harmonic reducer to obtain the collision threshold of the double encoder. The larger the speed is, the larger the inertia force is, the larger the corresponding external torque fluctuation coefficient is, and the collision threshold is increased, so that the collision sensitivity can be ensured when collision false detection is avoided.
With respect to the content of S102 in fig. 2, the embodiment of the present invention further provides an alternative implementation, please refer to the following, S102, which includes the steps of: s102-1 and S102-2 are specifically described below.
S102-1, the position of an output end encoder and the position of a motor end encoder at the current moment are obtained.
S102-2, determining a front encoder difference value based on the position of the output end encoder and the position of the motor end encoder at the current moment.
And (3) performing difference between the position of the motor end encoder at the current moment and the position of the output end encoder at the current moment, so as to determine a front encoder difference value.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating an embodiment of a collision detection apparatus according to the present invention, and the collision detection apparatus is optionally applied to the electronic device described above.
The collision detection device includes: a first processing unit 201 and a second processing unit 202.
A first processing unit 201, configured to obtain a current encoder difference, where the current encoder difference is a difference between a position of an output end encoder and a position of a motor end encoder at a current time;
The first processing unit 201 is further configured to obtain a fluctuation range of the current encoder difference value relative to the historical average value;
The second processing unit 202 is configured to determine that a collision occurs when the fluctuation width is greater than the collision threshold.
Optionally, the first processing unit 201 is further configured to perform a spectral analysis on the current encoder difference value based on the first historical difference value sequence; the first history difference sequence comprises a preset number of history differences before the current moment, wherein the history differences are differences between the position of the output end encoder and the position of the motor end encoder at the history moment; and deleting the current encoder difference value when the occurrence frequency of the current encoder difference value is smaller than the frequency threshold value and the amplitude value of the current encoder difference value is smaller than the amplitude threshold value.
Alternatively, the first processing unit 201 may perform S101 to S106 and S109 described above, and the second processing unit 202 may perform S107 and S108 described above.
It should be noted that, the collision detection device provided in this embodiment may execute the method flow shown in the method flow embodiment to achieve the corresponding technical effects. For a brief description, reference is made to the corresponding parts of the above embodiments, where this embodiment is not mentioned.
The embodiment of the present invention also provides a storage medium storing computer instructions, a program which when read and executed performs the collision detection method of the above embodiment. The storage medium may include memory, flash memory, registers, combinations thereof, or the like.
The following provides an electronic device, which can be a central control system of a cooperative robot or a mobile phone, a computer, a server and other devices which are in communication connection with the cooperative robot, and the electronic device is shown in fig. 1, so that the collision detection method can be realized; specifically, the electronic device includes: a processor 10, a memory 11, a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs that, when executed by the processor 10, perform the collision detection method of the above-described embodiment.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A collision detection method, the method comprising:
Obtaining a current encoder difference value, wherein the current encoder difference value is a difference value between the position of an output end encoder and the position of a motor end encoder at the current moment;
Acquiring the fluctuation amplitude of the current encoder difference value relative to a historical average value;
and determining that collision occurs when the fluctuation amplitude is larger than a collision threshold value.
2. The collision detection method of claim 1, wherein after obtaining the current encoder difference value, the method further comprises:
Performing spectral analysis on the current encoder difference value based on a first historical difference value sequence;
The first history difference sequence comprises a preset number of history differences before the current moment, wherein the history differences are differences between the position of an output end encoder and the position of a motor end encoder at the history moment;
And deleting the current encoder difference value when the occurrence frequency of the current encoder difference value is smaller than a frequency threshold value and the amplitude of the current encoder difference value is smaller than an amplitude threshold value.
3. The collision detection method according to claim 2, wherein the history average value includes a first history average value corresponding to a position of a trough in a second history difference sequence and a second history average value corresponding to a position of a peak in the second history difference sequence, the second history difference sequence including N history differences at a trough and N history differences at a peak that are alternately distributed;
the step of obtaining the fluctuation amplitude of the current encoder difference value relative to the historical average value comprises the following steps:
When the current encoder difference value is in the trough of a second history difference value sequence, a first history average value corresponding to the trough position in the second history difference value sequence is obtained;
And determining the difference value between the current encoder difference value and the first historical average value as a fluctuation amplitude.
4. The collision detection method of claim 3, wherein the step of obtaining a fluctuation amplitude of the current encoder difference value with respect to a historical average value further comprises:
When the current encoder difference value is in the peak of a second history difference value sequence, acquiring a second history average value corresponding to the peak position in the second history difference value sequence;
And determining the difference value between the current encoder difference value and the second historical average value as a fluctuation amplitude.
5. The collision detection method as claimed in claim 1, wherein the method further comprises:
and determining a collision threshold according to rated torque of the motor, the length of the corresponding connecting rod and the rigidity coefficient of the harmonic speed reducer of the motor.
6. The collision detection method as claimed in claim 1, wherein the step of obtaining a current encoder difference value includes:
Acquiring the position of an output end encoder and the position of a motor end encoder at the current moment;
And determining the difference value of the front encoder based on the position of the output end encoder and the position of the motor end encoder at the current moment.
7. A collision detection apparatus, characterized in that the apparatus comprises:
the first processing unit is used for obtaining a current encoder difference value, wherein the current encoder difference value is a difference value between the position of the output end encoder and the position of the motor end encoder at the current moment;
The first processing unit is further used for obtaining the fluctuation amplitude of the current encoder difference value relative to a historical average value;
and the second processing unit is used for determining that collision occurs when the fluctuation amplitude is larger than a collision threshold value.
8. The collision detecting device of claim 7, wherein,
The first processing unit is further configured to perform spectral analysis on the current encoder difference value based on a first historical difference value sequence; the first history difference sequence comprises a preset number of history differences before the current moment, wherein the history differences are differences between the position of an output end encoder and the position of a motor end encoder at the history moment; and deleting the current encoder difference value when the occurrence frequency of the current encoder difference value is smaller than a frequency threshold value and the amplitude of the current encoder difference value is smaller than an amplitude threshold value.
9. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-6.
10. An electronic device, comprising: a processor and a memory for storing one or more programs; the method of any of claims 1-6 is implemented when the one or more programs are executed by the processor.
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