Live working robot collision detection method and live working robot

Abstract

The invention provides a live working robot collision detection method and a live working robot, and relates to the field of robots. The method comprises the following steps of obtaining, specifically, obtaining six-dimensional force data of the respective positions of a wrist six-dimensional force sensor and a base six-dimensional force sensor through employing the wrist six-dimensional force sensor and the base six-dimensional force sensor; solving, specifically, establishing a mechanical arm DH coordinate system and a kinetic equation, and solving a collision force solution by utilizing thesix-dimensional force data; and judging, specifically, establishing a gravity compensation model of an actuator, setting a collision force threshold, and judging the collision situation of the live working robot. Collision between a mechanical arm and any part of the actuator is effectively monitored, environmental objects and a robot body are prevented from being damaged to the maximum extent before protective stop of the live working robot is triggered, abnormal stop of a work program is avoided, the number of times of manual intervention is reduced, independent collision judgment is conducted on the actuator and a mechanical arm body, collision detection of the whole arm of the robot is achieved, and the fine control level of the actuator is met as well.

Description

technical field [0001] The present application relates to the field of robots, and in particular, to a collision detection method for a live working robot and a live working robot. Background technique [0002] With the increasingly high requirements for the stable operation of the urban distribution network, the demand for live work is increasing, but the objective conditions such as high labor intensity, high safety risk of high-altitude work, and complex live work environment limit its extensive development. The development and application of live working robots have greatly improved live working conditions, reduced the requirements for operators, avoided directly approaching live objects, and significantly improved work safety and comfort. [0003] In the prior art, a live working robot in a power distribution network such as a 10kV power distribution network mainly uses a multi-degree-of-freedom manipulator in combination with a dedicated end effector to implement certa...

AI Technical Summary

Problems solved by technology

Due to the variety and complexity of the actual on-site operating environment, line layout, cross-arm arrangement, etc., live working robots will inevitably collide with cables, cross-arms and other facilities and equipment during the operation process.

This kind of collision may cause damage to the robot body, and in severe cases, it will damage the transmission line and endanger the safety of the power grid.

At the same time, it is noted that the end effectors of live working robots are generally large in size, complex in structure and rich in functions. After the robot collides with the environment or itself, it will generally switch to the protective stop state (or other similar states) immediately, and the operation will also be stopped. Therefore, it is suspended and needs to be manually reset by the ground operator. This type of operation is generally difficult to implement accurately, and the efficiency is very low, which seriously restricts the automation and intelligence level of live working robots.

[0004] In the prior art, some collision detection technologies for live working robots have been proposed, but among these detection technologies, there are collisions with a small application range and difficulty in detecting small operating targets (for example, the technology using depth vision), and the impact on robots. The detection is not comprehensive enough (for example, the contact collision of the non-terminal part cannot be effectively detected), it cannot cope with environmental changes, and there are misoperations (for example, radar point cloud technology is used, and the operation path planning carried out by radar point cloud technology also makes the operation area limited. )The problem

[0005] In addition, some collision detection technologies also involve the use of six-dimensional force sensors for collision detection. However, in such methods, the manipulator itself and the end effector are usually considered as one, so they cannot deal with the relationship between the manipulator itself and the end effector. In case of collision, especially in a narrow working environment where the scale of the end effector is large and irregular, it is easy to cause damage to the end effector; because the base force sensor is used for the collision detection of the whole arm, the collision force threshold is generally set slightly larger. The micro-collision of the end far away from the base cannot be accurately judged, nor can the precise and high-efficiency force control of the end be realized.

[0006] In some sensorless detection technologies, the joint torque is obtained by using the current of each joint, and then the collision situation is calculated, but this method has the problem of inaccurate detection mentioned above, because it cannot obtain the joint reducer more accurately. Viscous friction and Coulomb friction, and the acceleration is obtained by differentiating the fluctuating speed, artificially introducing noise and time delay

Images